Name
Title | ||
|---|---|---|
Dynamic Non-Holonomic Motion Planning By Means Of Dynamically Consistent Jacobian Inverse |
Abstract | ||
|---|---|---|
We develop a concept of dynamically consistent Jacobian inverse for non-holonomic robotic systems with dynamics. The guidelines for the development are provided by the endogenous configuration space approach. Similarly as for holonomic and non-holonomic kinematics, the dynamic consistency consists in preventing a transmission of forces from the null space of the dual Jacobian inverse to the operational space. The dynamically consistent Jacobian inverse for the non-holonomic systems with dynamics is introduced using the force method, and then applied to example motion planning problems for the rolling ball and the trident snake robot. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1093/imamci/dnw058 | IMA JOURNAL OF MATHEMATICAL CONTROL AND INFORMATION |
Keywords | Field | DocType |
non-holonomic system, dynamics, Jacobian motion planning, dynamic consistency | Motion planning,Inverse,Holonomic,Jacobian matrix and determinant,Control theory,Mathematics | Journal |
Volume | Issue | ISSN |
35 | 2 | 0265-0754 |
Citations | PageRank | References |
0 | 0.34 | 2 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Joanna Ratajczak | 1 | 5 | 3.10 |
| Krzysztof Tchon | 2 | 52 | 13.93 |