Control of Variable Degree of Freedom Robotic Systems | Diierential Geometric Methods |
نویسندگان
چکیده
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 control systems. Stratiied controllability. Stratiied trajectory generation. Conclusions. Future work.
منابع مشابه
Control of Variable Degree of Freedom Robotic Systems — Differential Geometric Methods — Bill
Slide 0 In this talk, we address controllability and trajectory generation issues for a class of control systems we refer to as stratified. The foundation of our work is exploiting the structure of a stratified configuration space to obtain controllability results and to formulate trajectory generation algorithms.
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