Singularities of holonomic and non-holonomic robotic systems: a normal form approach

DOI10.1016/J.JFRANKLIN.2021.07.028MaRDI QIDQ2235385zbMATH OpenOpenAlexFDO

Authors Joanna Ratajczak, Krzysztof Tchoń

Publication date 21 October 2021

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.jfranklin.2021.07.028

zbMATH Keywords

singularitiesholonomic and non-holonomic robotsLR-equivalence of smooth maps

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Automated systems (robots, etc.) in control theory (93C85) Holonomic systems related to the dynamics of a system of particles (70F20)

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• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Classification of kinematic singularities in planar robot manipulators
• Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
• First-order invariants of Euclidean motions
• Normal forms and singularities of non-holonomic robotic systems: a study of free-floating space robots
• On the geometry of Goursat structures
• Singular trajectories and their role in control theory
• Singularities of the Euler wrist
• The car with N Trailers : characterization of the singular configurations

Cited in

(3)

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