Connguration Controllability of Simple Mechanical Control Systems
نویسندگان
چکیده
In this paper we present a deenition of \connguration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A computable test for this new version of controllability is also derived. This condition involves a new object which we call the symmetric product. Of particular interest is a deenition of \equilibrium controllability" for which we are able to derive computable suucient conditions. Examples illustrate the theory.
منابع مشابه
Control of Variable Degree of Freedom Robotic Systems | Diierential Geometric Methods |
Slide 0 In this talk, we address controllability and trajectory generation issues for a class of control systems we refer to as stratiied. The foundation of our work is exploiting the structure of a stratiied connguration space to obtain controllability results and to formulate trajectory generation algorithms. Outline Introduction and motivating examples. Mathematical preliminaries. Stratiied ...
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