Computer-aided analysis of mechanical systems
Computer-aided analysis of mechanical systems
Nonlinear control systems: an introduction (2nd ed.)
Nonlinear control systems: an introduction (2nd ed.)
Manipulator motion planning in the presence of obstacles and dynamic constraints
International Journal of Robotics Research
Nonlinear Control and Analytical Mechanics with Mathematica with Cdrom
Nonlinear Control and Analytical Mechanics with Mathematica with Cdrom
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Kinematic and Dynamic Simulation of Multibody Systems: The Real Time Challenge
Kinematic and Dynamic Simulation of Multibody Systems: The Real Time Challenge
A Smooth Path Tracking Algorithm for Wheeled Mobile Robots with Dynamic Constraints
Journal of Intelligent and Robotic Systems
An exponential family of hyperbolic-type controllers
WSEAS Transactions on Circuits and Systems
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The paper presents a control oriented dynamic formulation for constrained robotic systems. We refer to this formulation as control oriented since it can be directly applied to design a model-based tracking control strategy. It enables one to obtain dynamic models for systems subjected to material constraints and non-material referred to as program constraints. The dynamic model for a constrained robot, where equations of program constraints specify tasks and motion requirements, is used as a program motion planner for a controller design. The formulation provides a theoretical framework, which is a basis for the study of robot performance of constrained tasks. Examples of developments of control oriented dynamic models are presented, and their applications for control are demonstrated and discussed.