Normal forms and singularities of non-holonomic robotic systems: a study of free-floating space robots

DOI10.1016/j.sysconle.2020.104661zbMath1436.93093OpenAlexW3009854066MaRDI QIDQ1984741

Joanna Ratajczak, Krzysztof Tchoń

Publication date: 7 April 2020

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2020.104661

zbMATH Keywords

singularitiesfeedbacknormal formsmotion planningspace robotnon-holonomic system

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (3)

Adaptive coordinated control for space manipulators with input saturation ⋮ Energy-optimal adaptive artificial potential field method for path planning of free-flying space robots ⋮ Singularities of holonomic and non-holonomic robotic systems: a normal form approach

Cites Work

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• Classification of kinematic singularities in planar robot manipulators
• Singular trajectories and their role in control theory
• Feedback classification of nonlinear control systems on 3-manifolds
• A continuation method for motion-planning problems
• Singular Trajectories of Control-Affine Systems

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