Endogenous Configuration Space Approach: An Intersection of Robotics and Control Theory

DOI10.1007/978-3-319-30357-4_10zbMath1390.93580OpenAlexW2476217401MaRDI QIDQ4610127

Krzysztof Tchoń

Publication date: 5 April 2018

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

Full work available at URL: https://doi.org/10.1007/978-3-319-30357-4_10

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60) Control/observation systems governed by ordinary differential equations (93C15)

Cites Work

• Lagrangian Jacobian inverse for nonholonomic robotic systems
• Constrained motion planning of nonholonomic systems
• Large deviations and the Malliavin calculus
• Manifolds, tensor analysis, and applications.
• Repeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators
• A continuation method for motion-planning problems
• On the motion planning of rolling surfaces
• Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
• Flatness and defect of non-linear systems: introductory theory and examples
• On Dynamic Properties of Singularity Robust Jacobian Inverse Kinematics
• Repeatability of inverse kinematics algorithms for mobile manipulators
• Extended Jacobian inverse kinematics algorithm for nonholonomic mobile robots
• Sur la limitation des intégrales des systèmes d'équations différentielles linéaires ordinaires
• Applications of functional analysis and operator theory
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