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
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