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 ( s ¨ , s ˙ , s ) \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.


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    Titel :

    Projecting Robot Dynamics onto Trajectories


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Müller, Andreas (Herausgeber:in) / Brandstötter, Mathias (Herausgeber:in) / Pfeiffer, Friedrich (Autor:in)

    Kongress:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Erscheinungsdatum :

    2022-04-23


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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