Advanced Dynamics Modeling, Duality and Control of Robotic Systems
Backstepping Recursion Cascaded Systems Centrifugal and Coriolis Terms Control Lie Algebra Delta Closed Hybrid-Chain Denavit-Hartenberg Convention Geodesic Equations Isometric Embedding Legged Robots Local Linearization Procedure Lyapunov Stability Minimum-Phase System Model Compaction Posture Optimization Riemannian Metrics Rigid Body and Rigid Motion Stewart Platform
Publisher: CRC Press
Description:
This book provides detailed fundamental theoretical reviews and preparations necessary for developing advanced dynamics modeling and control strategies for various types of robotic systems. It also presents and discusses the principle of duality involved in robot kinematics, statics, and dynamics.