The projection of arbitrary many robot degrees of freedom on a given path results in a set of nonlinear equations with one degree of freedom only, the path coordinate s. Application of this idea can be used to construct a mobility space \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$(\ddot{s}, \dot{s}, s)$$\end{document} for any combination of coordinates and constraints. The paper presents a corresponding approach for n-link robots by applying multibody system theory. Practical aspects are discussed, and an example is given.
Projecting Robot Dynamics onto Trajectories
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
2022-04-23
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Projecting Robot Dynamics onto Trajectories
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