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Connections and geodesic characteristic of equations of motion for constrained mechanical systems

✍ Scribed by Luo Shaokai; Guo Yongxin; Mei Fengxiang

Publisher
Springer
Year
1998
Tongue
English
Weight
323 KB
Volume
19
Category
Article
ISSN
0253-4827

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## Abstract This paper proposes a robust adaptive motion/force tracking controller for holonomic constrained mechanical systems with parametric uncertainties and disturbances. First, two types of well‐known holonomic systems are reformulated as a unified control model. Based on the unified control