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Title: Kinematics of free-floating robots revisited

Creator:

Dulęba, Ignacy

Date:

1997

Resource Type:

artykuł

Contributor:

Korbicz, Józef - red. ; Uciński, Dariusz - red.

Group publication title:

AMCS, volume 7 (1997)

Abstract:

In this paper, a decomposed expression for the kinematics of a free-floating robot with rotational joints is derived in detail. Some mathematical conditions on invertibility of a matrix used in a definition of the generalized Jacobian matrix are derived and proved for a general robot and for a planar robot (an n-pendulum). For the n-pendulum, closed-form kinematics are given. A comparison of the resulting kinematic equations for the simplest free-floating robot (a planar 2-pendulum), with the simplest mobile robot (a unicycle) is presented. Being an extended version of (Dulęba, 1996), this paper offers a family of models of nonholonomic systems.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Resource Identifier:

oai:zbc.uz.zgora.pl:57829

Pages:

593-610

Source:

AMCS, volume 7, number 3 (1997) ; click here to follow the link

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego

Subject and keywords:

sterowanie sterowanie-teoria sztuczna inteligencja matematyka stosowana informatyka

Object collections:

Last modified:

Sep 2, 2021

In our library since:

Nov 23, 2020

Number of object content hits:

22

All available object's versions:

https://zbc.uz.zgora.pl/publication/64515

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Kinematics of free-floating robots revisited Sep 2, 2021

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