Obiekt
Tytuł: Controllability for mechanical systems with symmetries and constraints
Współtwórca:
Podtytuł:
Recent Developments in Robotics
Tytuł publikacji grupowej:
Abstract:
This paper derives controllability tests for a large class of mechanical systems characterized by nonholonomic constraints and symmetries. Recent research in geometric mechanics has led to a single, simplified framework that describes this class of systems, which includes examples such as wheeled mobile robots; undulatory robotic and biological locomotion systems, such as paramecia, inchworms, and snakes; as well as the reorientation of satellites and underwater vehicles. ; This geometric framework has also been applied to more unusual examples, such as the snakeboard robot, the wobblestone, and the reorientation of a falling cat. Using results from modern nonlinear control theory, we develop accessibility and controllability tests based on this reduced geometric structure. We also discuss parallels between these tests and the construction of open-loop control algorithms, with analogies to the generation of locomotive gaits for robotic systems.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Identyfikator zasobu:
Strony:
Źródło:
AMCS, volume 7, number 2 (1997) ; kliknij tutaj, żeby przejść
Jezyk:
Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Typy utworów > Artykuły
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS)
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1997)
Data ostatniej modyfikacji:
2021-09-02
Data dodania obiektu:
2020-11-18
Liczba wyświetleń treści obiektu:
117
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/publication/64497
Wyświetl opis w formacie RDF:
Wyświetl opis w formacie OAI-PMH:
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 2 (1997)
- Control of redundant robots under end-effector commands: A case study in underactuated systems
- Adaptive and robust control of flexible joint robots in constrained motion
- On the stability of nonlinear PD control
- An adaptive force/position control scheme for robot manipulators
- Controllability for mechanical systems with symmetries and constraints
- Time-optimal control of redundant manipulators
- Modelling and simulation of assembly processes with robots
- Parameter identification in robot control
- Singularity avoidance in redundant robot kinematics: A dynamical system approach
- Two-way recursive decomposition of the free-flying robot mass matrix
- Time-optimal trajectory planning in dynamic environments
- Motion generation in Cartesian space for industrial robots with actuator limitations
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 3 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 4 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 3 (1993)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
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International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Nazwa wydania | Data |
|---|---|
| Controllability for mechanical systems with symmetries and constraints | 2021-09-02 |
