✦ LIBER ✦

Dynamics and control of underactuated manipulation systems: A discrete-time approach

✍ Scribed by Norbert Scherm; Bodo Heimann

Publisher: Elsevier Science
Year: 2000
Tongue: English
Weight: 407 KB
Volume: 30
Category: Article
ISSN: 0921-8890
DOI: 10.1016/s0921-8890(99)00089-5

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✦ Synopsis

This article contains a discussion on the application of nonlinear multi-rate path planning and digital control methods to underactuated systems. Furthermore, a discretization method based on sensitivity functions is proposed.

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