DocumentCode :
3180903
Title :
Robot modeling and control over extended configurational manifold
Author :
Mladenova, Clementina D.
Author_Institution :
Inst. of Mech. & Biomech., Bulgarian Acad. of Sci., Sofia, Bulgaria
fYear :
1992
fDate :
12-14 May 1992
Firstpage :
326
Abstract :
All problems connected with manipulator modeling and control are treated on the group-configurational manifold Qct in place of the standard configurational space Q. This possibility is a result of the vector-parametrization of the SO (3) Lie group which has a simple composition law. The suggested approach makes it possible to apply the powerful methods of Lie group theory to the treatment of the controllability and observability of manipulator systems
Keywords :
Lie groups; controllability; kinematics; modelling; observability; robots; Lie group; configurational space; controllability; group-configurational manifold; manipulator; modeling; observability; robots; vector-parametrization; Computational efficiency; Computational modeling; Grippers; Manipulators; Observability; Open loop systems; Orbital robotics; Power system modeling; Robot control; Robot kinematics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
Type :
conf
DOI :
10.1109/ROBOT.1992.220243
Filename :
220243
Link To Document :
https://search.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=3180903
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