Chaos dynamics in the trajectory control of redundant manipulators

Several kinematic control algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through experiments that reveal the difficulties that often arise. Motivated by these problems this paper studies kinematics a...

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Bibliographic Details
Main Author: Duarte, Fernando B. M. (author)
Other Authors: Tenreiro Machado, J. A. (author)
Format: conferenceObject
Language:eng
Published: 2000
Subjects:
Redundant manipulators
Chaos
Manipulator dynamics
Inverse problems
Matrix algebra
Nonlinear control systems
Online Access:http://hdl.handle.net/10400.22/13419
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13419

Internet

http://hdl.handle.net/10400.22/13419

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