Control of Variable Degree of Freedom Robotic Systems — Differential Geometric Methods — Bill
نویسندگان
چکیده
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.
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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