摘要：Abstract: This paper presents surface following control for fully actuated rigid body systems in three-dimensional space. Transverse Feedback Linearization is used to systematically design a controller that is suitable for surfaces given by a regular threefold continuously differentiable parametrization. The strategy is verified by measurement results on a DELTA robot with linear drives.
关键词：KeywordsSurface Following ControlTransverse Feedback LinearizationMoving FrameParallel Robot
