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- W2101594579 abstract "A general framework for under-actuated manipulator systems is introduced. Within this framework, we show how to decompose the second-order dynamic motion constraint into two orthogonal components. Based on this decomposition, feedback control laws are proposed for motion stabilization to a reactionless-motion equilibrium manifold. Reactionless motion without drift is guaranteed for first-order nonholonomic systems. It is also shown that for a second-order nonholonomic system, reactionless motion in general leads to a drift." @default.
- W2101594579 created "2016-06-24" @default.
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- W2101594579 date "2002-11-27" @default.
- W2101594579 modified "2023-09-26" @default.
- W2101594579 title "Reaction null-space based control of under-actuated manipulators" @default.
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- W2101594579 doi "https://doi.org/10.1109/iros.1998.727488" @default.
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