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Kinodynamic planning on constraint manifolds

Autor
Bordalba, R.; Porta, J.; Ros, L.
Tipus d'activitat
Document cientificotècnic
Data
2017
Codi
IRI-TR-17-01
Repositori
http://hdl.handle.net/2117/110931 Obrir en finestra nova
Resum
This report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate to achieve a given task, or in situations involving contacts with the environment. The latter are necessary to obtain realistic trajectories, taking into account the forces acting on the system. The kinematic constraints make the state space become an implicitly-defined manifold...
Citació
Bordalba, R., Porta, J.M., Ros, L. "Kinodynamic planning on constraint manifolds". 2017.
Paraules clau
Kinodynamic motion planning, constrained system, dynamic simulation, rapidly-exploring randomized tree, robot dynamics, robot kinematics, robot programming
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

Participants