Edward Y. L. Gu
eBook, PDF

Advanced Dynamics Modeling, Duality and Control of Robotic Systems (eBook, PDF)

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This book provides detailed fundamental theoretical reviews and preparations necessary for developing advanced dynamics modeling and control strategies for various types of robotic systems. This research book specifically addresses and discusses the uniqueness issue of representing orientation or rotation, and further proposes an innovative isometric embedding approach. The novel approach can not only reduce the dynamic formulation for robotic systems into a compact form, but it also offers a new way to realize the orientational trajectory-tracking control procedures.In addition, the book give...

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