Nonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints.
نویسندگان
چکیده
منابع مشابه
Nonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints
Motion planning for coupled rigid bodies in a horizontal plane is investigated. The rigid bodies are serially connected by passive revolute joints. The dynamic constraints on the system are second-order nonholonomic constraints. We attempted to control those n coupled rigid bodies by the translational acceleration inputs at the first joint. If each rigid body is hinged at the center of percussi...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2000
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.66.553