Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7109227 | Automatica | 2018 | 4 Pages |
Abstract
This paper deals with the problem of inverting a nonlinear map. The proposed solution consists in a nonlinear state observer, which mimics a Newton-like algorithm, that allows to determine the inverse of a given diffeomorphism in finite time. The results are illustrated by application to the inverse kinematics of a three DOF planar manipulator.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Laura Menini, Corrado Possieri, Antonio Tornambè,