Lagrangian Jacobian inverse for nonholonomic robotic systems

DOI10.1007/S11071-015-2288-6zbMath1348.70020OpenAlexW976989249WikidataQ59406064 ScholiaQ59406064MaRDI QIDQ330982

Krzysztof Tchoń, Ida Góral, Adam Ratajczak

Publication date: 26 October 2016

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-015-2288-6

zbMATH Keywords

optimizationmotion planningnonholonomic systemJacobian algorithm

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (2)

The planning of optimal motions of non-holonomic systems ⋮ Endogenous Configuration Space Approach: An Intersection of Robotics and Control Theory

Uses Software

• ACADO

Cites Work

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• Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
• On Dynamic Properties of Singularity Robust Jacobian Inverse Kinematics
• CRB-Based Design of Linear Antenna Arrays for Near-Field Source Localization

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