Creator:

Dulęba, Ignacy

Contributor:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Title:

Kinematics of free-floating robots revisited

Group publication title:

AMCS, volume 7 (1997)

Subject and Keywords:

sterowanie ; sterowanie-teoria ; sztuczna inteligencja ; matematyka stosowana ; informatyka

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

Date:

1997

Resource Type:

artykuł

Pages:

593-610

Source:

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

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego