Summary
The chapter focuses on concepts and methodologies of coordinating and motion control aimed at maintaining complex spatial behaviour of nonlinear dynamical systems. The main approach is discussed in connection with problems of control of mechanical systems (rigid bodies, robotic manipulators, and mobile robots) and is naturally extended to coordinating the motions of redundant robots, underactuated mechanisms, and walking machines.
This chapter outlines the results of recent research supported by the Russian Foundation for Basic Research and Program 17 of Presidium of RAS (project 1.4).
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Miroshnik, I.V. (2006). Motion Control and Coordination in Mechanical and Robotic Systems. In: Menini, L., Zaccarian, L., Abdallah, C.T. (eds) Current Trends in Nonlinear Systems and Control. Systems and Control: Foundations & Applications. Birkhäuser Boston. https://doi.org/10.1007/0-8176-4470-9_18
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DOI: https://doi.org/10.1007/0-8176-4470-9_18
Publisher Name: Birkhäuser Boston
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