MATHEMATICAL-MODELING AND CONTROL OF MANIPULATOR SYSTEMS

被引：16
|
作者：
MLADENOVA, C
机构：
[1] Institute of Mechanics and Biomechanics, Bulgarian Academy of Sciences, 1090 Sofia
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 1991年 / 8卷 / 04期
关键词：
D O I：
10.1016/0736-5845(91)90035-Q
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper discusses manipulator modelling and control through a nonstandard parametrization of rotation motions. The advantage of the method is the computational efficiency at the kinematic level, not from efficient presentation but from fundamental topological considerations of the configurational manifold, described by a Lie group structure.
引用
收藏
页码：233 / 242
页数：10
相关论文
共 50 条
  • [1] A UNIFIED APPROACH TO MATHEMATICAL-MODELING OF ROBOTIC MANIPULATOR DYNAMICS
    VUKOBRATOVIC, MK
    FILARETOV, VF
    KORZUN, AI
    [J]. ROBOTICA, 1994, 12 : 411 - 420
  • [2] THE MATHEMATICAL-MODELING OF LEACHING SYSTEMS
    PETERS, E
    [J]. JOM-JOURNAL OF THE MINERALS METALS & MATERIALS SOCIETY, 1991, 43 (02): : 20 - 26
  • [3] SYSTEMS-ANALYSIS AND MATHEMATICAL-MODELING IN ARMS-CONTROL
    AVENHAUS, R
    HUBER, RK
    KETTELLE, JD
    [J]. OR SPEKTRUM, 1986, 8 (03) : 129 - 141
  • [4] MATHEMATICAL-MODELING OF NATURAL SYSTEMS AND THEIR DISTURBANCES
    OSIUS, G
    TIMM, J
    [J]. ANGEWANDTE BOTANIK, 1981, 55 (3-4): : 139 - 147
  • [5] MATHEMATICAL-MODELING OF INERTIAL NAVIGATION SYSTEMS
    ZHBANOV, YK
    KLIMOV, DM
    URYUPIN, MA
    [J]. JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL, 1994, 32 (02) : 102 - 109
  • [6] MATHEMATICAL-MODELING OF ADSORPTION IN MULTICOMPONENT SYSTEMS
    MATHEWS, AP
    WEBER, WJ
    [J]. ABSTRACTS OF PAPERS OF THE AMERICAN CHEMICAL SOCIETY, 1980, 180 (AUG): : 7 - INDE
  • [7] MATHEMATICAL-MODELING OF IONOSPHERIC CURRENT SYSTEMS
    SHOLPO, ME
    [J]. GEOMAGNETIZM I AERONOMIYA, 1975, 15 (01): : 39 - 45
  • [8] MATHEMATICAL-MODELING OF INFORMATION PROCESSES AND SYSTEMS
    FADEEV, PK
    [J]. NAUCHNO-TEKHNICHESKAYA INFORMATSIYA SERIYA 2-INFORMATSIONNYE PROTSESSY I SISTEMY, 1989, (12): : 2 - 5
  • [9] MATHEMATICAL-MODELING OF FIRE SPRINKLER SYSTEMS
    HOFFMANN, N
    GALEA, ER
    MARKATOS, NC
    [J]. APPLIED MATHEMATICAL MODELLING, 1989, 13 (05) : 298 - 306
  • [10] UNIVERSAL MATHEMATICAL-MODELING OF ROLLING SYSTEMS
    KLYUIKOV, SF
    SHIRYAEV, VI
    [J]. STEEL IN THE USSR, 1979, 9 (04): : 181 - 184
12345