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Computation of inverse dynamics for the control of movements

✍ Scribed by C. Darlot; L. Zupan; O. Etard; P. Denise; A. Maruani


Publisher
Springer-Verlag
Year
1996
Tongue
English
Weight
486 KB
Volume
75
Category
Article
ISSN
0340-1200

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The application of extended inverse dyna
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This work deals with the application of extended inverse dynamic control to a given constrained control problem. By choosing an extended inverse dynamic control the system is partially linearized leading to a representation of the system which consists of a double integrator system and a complementa