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Inverse kinematic solution based on Lyapunov function for redundant and non-redundant robots.

Amar Ramdane-CherifD. Yahia MeddahVéronique PerdereauMichel Drouin
Published in: CIRA (1997)
Keyphrases
  • lyapunov function
  • control method
  • nonlinear systems
  • neural network
  • mobile robot
  • sufficient conditions
  • dynamic environments
  • real time
  • optimal solution