Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta.
Alessandro M. GiordanoGianluca GarofaloMarco De StefanoChristian OttAlin Albu-SchäfferPublished in: CDC (2016)
Keyphrases
- robot control
- robotic systems
- control signals
- autonomous robots
- mobile robot
- robot manipulators
- dynamic model
- wheel slip
- control system
- linear space
- trajectory tracking
- visual servoing
- low dimensional
- robot navigation
- hand eye
- autonomous vehicles
- robotic arm
- home environment
- control strategy
- finite dimensional
- obstacle avoidance
- air fuel ratio
- vision system
- dynamical systems
- robot behavior
- joint space
- robotic manipulator
- highly nonlinear
- force control
- virtual space
- human robot interaction
- walking robot
- control method
- motor learning
- semi autonomous
- high dimensional
- biped robot
- sensory motor
- robot motion
- motion control
- physical constraints
- nonlinear dynamics
- real time
- optimal control
- adaptive control
- multi robot
- motion planning