Name
Abstract | ||
|---|---|---|
We study robotic systems subject to Pfaffian constraints in the affine form. A control system representation of such a system is given in the form of a control-affine system. Normal forms under feedback are considered and used both as a description of configuration singularities of the robotic system as well as a tool for solving the motion planning problem. An example of a space manipulator is analysed in detail to illustrate the theoretical concepts. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1007/978-3-319-93188-3_29 | Springer Proceedings in Advanced Robotics |
Keywords | DocType | Volume |
Affine constraints,Control-affine system,Normal forms,Singularities,Motion planning,Space manipulator | Conference | 8 |
ISSN | Citations | PageRank |
2511-1256 | 1 | 0.41 |
References | Authors | |
0 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Krzysztof Tchon | 1 | 52 | 13.93 |
| Joanna Ratajczak | 2 | 5 | 3.10 |
| Janusz Jakubiak | 3 | 1 | 0.41 |