{"title":"运动学冗余机器人的零动力学","authors":"M. Varghese, A. Fuchs, R. Mukundan","doi":"10.1109/ICSYSE.1990.203100","DOIUrl":null,"url":null,"abstract":"The integration of the control of kinematically redundant robots and feedback linearization is discussed. Cases of feedback linearization are analyzed when the decoupling matrix is nonsquare-in particular, when there is less output than input such as in the case of redundant kinematics in robots. An application to a two-link planar robot is discussed. An example which illustrates the zero dynamics that are obtained for a particular example is given","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"102 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Zero dynamics in kinematically redundant robots\",\"authors\":\"M. Varghese, A. Fuchs, R. Mukundan\",\"doi\":\"10.1109/ICSYSE.1990.203100\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The integration of the control of kinematically redundant robots and feedback linearization is discussed. Cases of feedback linearization are analyzed when the decoupling matrix is nonsquare-in particular, when there is less output than input such as in the case of redundant kinematics in robots. An application to a two-link planar robot is discussed. An example which illustrates the zero dynamics that are obtained for a particular example is given\",\"PeriodicalId\":259801,\"journal\":{\"name\":\"1990 IEEE International Conference on Systems Engineering\",\"volume\":\"102 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1990-08-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1990 IEEE International Conference on Systems Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSYSE.1990.203100\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1990 IEEE International Conference on Systems Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSYSE.1990.203100","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The integration of the control of kinematically redundant robots and feedback linearization is discussed. Cases of feedback linearization are analyzed when the decoupling matrix is nonsquare-in particular, when there is less output than input such as in the case of redundant kinematics in robots. An application to a two-link planar robot is discussed. An example which illustrates the zero dynamics that are obtained for a particular example is given
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