Name
Abstract | ||
|---|---|---|
This paper addresses the problem of normal forms and singularities of non-holonomic robotic systems represented by control-affine systems. By means of the concept of the end-point map of the system, and of the system’s Jacobian, the configuration singularities have been defined as the control functions for which the Jacobian is not surjective. The presence of these singularities impairs performance of Jacobian motion planning algorithms. Being the singular optimal controls, the configuration singularities can be examined using the tools from the optimal control theory. The main idea of this paper is to rely the analysis of configuration singularities on normal forms of robotic systems. This idea has been applied to the dynamics of a space manipulator. Normal forms of this manipulator under the feedback equivalence have been obtained, and exploited in the analysis of its configuration singularities. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1007/s10846-018-0883-8 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
Non-holonomic robotic system, Motion planning, Singularities, Normal forms, Space manipulator | Motion planning,Robotic systems,Optimal control,Jacobian matrix and determinant,Control theory,Manipulator,Equivalence (measure theory),Engineering,Gravitational singularity,Surjective function | Journal |
Volume | Issue | ISSN |
93 | 3-4 | 1573-0409 |
Citations | PageRank | References |
1 | 0.41 | 6 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Krzysztof Tchon | 1 | 52 | 13.93 |
| Witold Respondek | 2 | 123 | 31.10 |
| Joanna Ratajczak | 3 | 1 | 0.41 |