A catalog of inverse-kinematics planners for underactuated systems on matrix groups

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This paper presents motion planning algorithms for underactuated systems evolving on rigid rotation and displacement groups. Motion planning is transcribed into (low-dimensional) combinatorial selection and inverse-kinematics problems. We present a catalog of solutions for all underactuated systems on $\SE{2}$, $\SO{3}$ and $\SE{2}\times\real$ classified according to their controllability properties.
8 pages, double column, 3 figures

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Optimization and Control, 70Q05; 70B15; 70G65

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http://salesiana.dossiersoluciones.com/handle/123456789/67327

Consulte el texto completo en el siguiente enlace:

https://arxiv.org/abs/math/0305003
 http://arxiv.org/abs/math/0305003

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arXiv