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Force Characteristics Energy and Power
Reaching and Capture
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adaptive control adaptive laws adjustable assume asymptotic stability Balestrino bounded bounded set C1 function calculate called Cartesian configuration Consider const constant continuous function control program controllability for capture controllability for Q controllability for reaching controllable on A0 coordinates Corollary corresponding damping defined Definition denoted discussion dynamic energy flow equilibrium Example forces given gripper Hence implies introduce inverse inverse kinematics kinematics Leitmann Liapunov function linear linearizable Lipschitz continuous matrix method min-max monotone dissipative objective obstacles obtain obviously open-loop control optimal optimally controllable parameters perturbation positive potential energy produce proof Qf(q reaching with capture reader reference RP manipulator satisfied Section 1.1 separatrix simply connected Skowronski space specified stipulated strong controllability strongly subset substituting sufficient conditions suitable surface Theorem threshold trajectory u e &(x uncertainty vector velocities zero