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Title:

Coordinate-Invariant Modeling and Control of a Three-DOF Robot Manipulator

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Herrmann, M.; Tiwari, D.; Kotyczka, P.; Banavar, R.
Pages contribution:
pp. 230-236
Abstract:
This article presents coordinate-free modeling and control law synthesis for a 3-DOF, revolute-joint robotic manipulator. Most conventional robot analysis and design methods still operate in a parametric framework, which makes all results in a sense local. In contrast to this, we introduce a coordinate-free representation of the robot’s kinematics on S1 × S1 × S1, which allows to express the continuous-time dynamics in a global, structured form. In parallel to the continuous case, a discrete-tim...     »
Keywords:
Robot control; geometric mechanics; geometric integration; variational integrators; energy-based control; discrete-time control
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Book / Congress title:
IFAC-PapersOnLine
Congress (additional information):
7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Berlin
Date of congress:
11.-13.10.2021
Publisher:
Elsevier
Date of publication:
19.11.2021
Year:
2021
Year / month:
2021-11
Month:
Nov
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1016/j.ifacol.2021.11.083
WWW:
https://doi.org/10.1016/j.ifacol.2021.11.083
TUM Institution:
Lehrstuhl für Regelungstechnik
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