Robot modeling and control over extended configurational manifold

Abstract

All problems connected with manipulator modeling and control are treated on the group-configurational manifold Q/sub ct/ in place of the standard configurational space Q. This possibility is a result of the vector-parametrization of the SO (3) Lie group which has a simple composition law. The suggested approach makes it possible to apply the powerful methods of Lie group theory to the treatment of the controllability and observability of manipulator systems.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>