Servo-constraint generalized inverse dynamics for robot manipulator control design

Abstract

Novel concept of inverse dynamics for robot manipulator control is developed. The concept is based on generalized inversion, and therefore it avoids limitations and shortcomings of square inversion that are frequently encountered in conventional inverse dynamics. A servo-constraint on the manipulator is defined, the satisfaction of which implies that the… (More)
DOI: 10.2316/Journal.206.2010.1.206-3291

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