Motion planning and control problems for underactuated robots

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Motion planning and control are key problems in a collection of robotic applications including the design of autonomous agile vehicles and of minimalist manipulators. These problems can be accurately formalized within the language of affine connections and of geometric control theory. In this paper we overview recent results on kinematic controllability and on oscillatory controls. Furthermore, we discuss theoretical and practical open problems as well as we suggest control theoretical approaches to them.
16 pages, 5 figures, to appear as a book chapter in the Advanced Robotics Series, Springer-Verlag

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Optimization and Control, Differential Geometry, 53B05; 70Q05; 93B03; 93B05; 93B29

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http://salesiana.dossiersoluciones.com/handle/123456789/64975

Consulte el texto completo en el siguiente enlace:

https://arxiv.org/abs/math/0209213
 http://arxiv.org/abs/math/0209213
 Control Problems in Robotics, A. Bicchi, H. Christensen, D. Prattichizzo eds., STAR series, vol 4, 2003, Springer-Verlag, Berlin-Heidelberg, pages 59-74

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arXiv