A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints
A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under holonomic or non-holonomic constraints is presented. First, position/force hybrid control of an endeffector of a multijoint redundant (or nonredundant) robot under a holonomic constraint is reinterpreted...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2009-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2009/892801 |