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- W1638401530 abstract "We discuss the algebraic structure of the dynamics of articulated multibody systems and how it may be effectively used in control design. The dynamics has a decomposition consisting of matrix operators satisfying many identities and giving insight into the dynamical system. To show the utility of this formalism, we investigate a disturbance attenuation control problem. We introduce a meaningful performance index which has an interesting interpretation in terms of the 'normalized' robot dynamics. Finally, we derive a new adaptive controller using the local structure found in the dynamics and test it on a 3-link planar robot arm." @default.
- W1638401530 created "2016-06-24" @default.
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- W1638401530 date "2002-11-23" @default.
- W1638401530 modified "2023-09-25" @default.
- W1638401530 title "Using the algebraic structure of articulated robot dynamics in control design" @default.
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- W1638401530 doi "https://doi.org/10.1109/cdc.1997.649794" @default.
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