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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Projecting Robot Dynamics onto Trajectories


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

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



    Publication date :

    2022-04-23


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Projecting Robot Dynamics onto Trajectories

    Pfeiffer, Friedrich | TIBKAT | 2022


    Projecting Asteroid Impact Corridors onto the Earth

    Rumpf, Clemens / Mathias, Donovan / Farnocchia, Davide et al. | NTRS | 2019



    PROJECTING IMAGES AND VIDEOS ONTO FABRICATED SURFACES

    TRIPATHI SHUBHAM / VISWANATHAN KAPALEESWARAN / AYYAGARI ARUN | European Patent Office | 2022

    Free access

    PROJECTING IMAGES AND VIDEOS ONTO CURVED FABRICATED SURFACES

    TRIPATHI SHUBHAM / VISWANATHAN KAPALEESWARAN / AYYAGARI ARUN | European Patent Office | 2022

    Free access