Lagrangian Jacobian inverse for nonholonomic robotic systems

DOI10.1007/S11071-015-2288-6MaRDI QIDQ330982zbMATHOpenAlexWikidataFDO

Authors Krzysztof Tchoń, Adam Ratajczak, Ida Góral

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)

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Cites work

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• scientific article; zbMATH DE number 1301654 (Why is no real title available?)
• scientific article; zbMATH DE number 1301655 (Why is no real title available?)
• A continuation method for motion-planning problems
• CRB-Based Design of Linear Antenna Arrays for Near-Field Source Localization
• Constrained motion planning of nonholonomic systems
• Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
• Generalized inverses. Theory and applications.
• On Dynamic Properties of Singularity Robust Jacobian Inverse Kinematics
• On the motion planning of rolling surfaces
• \texttt{ACADO toolkit} -- an open-source framework for automatic control and dynamic optimization

Cited in

(11)

• Using Lie group symmetries for fast corrective motion planning
• Dynamically consistent Jacobian inverse for non-holonomic robotic systems
• Endogenous configuration space approach: an intersection of robotics and control theory
• On dynamically consistent Jacobian inverse for non-holonomic robotic systems
• Identifiability of Lagrangian Systems With Application to Robot Manipulators
• The planning of optimal motions of non-holonomic systems
• Dynamic non-holonomic motion planning by means of dynamically consistent Jacobian inverse
• Non-holonomic motion planning using dynamically consistent Jacobian inverse
• Optimal motion planning for nonholonomic systems using genetic algorithm with wavelet approximation
• Layer, Lie algebraic method of motion planning for nonholonomic systems
• Lagrangian Jacobian motion planning

Describes a project that uses

Uses Software

• ACADO

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