Fakult at F Ur Mathematik 98684 Ilmenau the Workspace of a Planar Continuous Robotic Manipulator - an Optimal Control Approach
نویسنده
چکیده
We consider a planar continuous robotic manipulator and determine the reachable set of its end-e ector with and without prescribed terminal direction. To do so we use optimal control and geometric techniques similar to those used in solving Dubins` problem. We also solve the synthesis problem of Dubins` problem with free terminal direction.
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تاریخ انتشار 2000