Endogenous Configuration Space Approach: An Intersection of Robotics and Control Theory

2016 ◽  
pp. 209-234 ◽  
Author(s):  
Krzysztof Tchoń
Keyword(s):  
Control Theory ◽  
Configuration Space ◽  
And Control ◽  
Space Approach

Motion planning of the trident snake robot equipped with passive or active wheels

2012 ◽  
Vol 60 (3) ◽  
pp. 547-555 ◽  
Author(s):  
D. Paszuk ◽  
K. Tchoń ◽  
Z. Pietrowska
Keyword(s):  
Control System ◽  
Motion Planning ◽  
Computer Simulations ◽  
Configuration Space ◽  
Snake Robot ◽  
System Representation ◽  
And Control ◽  
Planning Problems ◽  
Jacobian Algorithm ◽  
Space Approach

Abstract We study the kinematics of the trident snake robot equipped with either active joints and passive wheels or passive joints and active wheels. A control system representation of the kinematics is derived, and control singularities examined. Two motion planning problems are addressed, corresponding to diverse ways of controlling the robot, and solved by means of the endogenous configuration space approach. The constraints imposed by the presence of control singularities are handled using the imbalanced Jacobian algorithm assisted by an auxiliary feedback. Performance of the motion planning algorithms is demonstrated by computer simulations.

scholarly journals Generalized Chebyshev problem in nonholonomic mechanics and control theory

2021 ◽  
Vol 1959 (1) ◽  
pp. 012054
Author(s):  
M P Yushkov ◽  
Sh Kh Soltakhanov ◽  
V V Dodonov
Keyword(s):  
Control Theory ◽  
Nonholonomic Mechanics ◽  
Chebyshev Problem ◽  
And Control

Mathematical Programming and Control Theory (B. D. Craven)

SIAM Review ◽  
1980 ◽  
Vol 22 (3) ◽  
pp. 377-378
Author(s):  
William W. Hager
Keyword(s):  
Mathematical Programming ◽  
Control Theory ◽  
And Control

scholarly journals Application of systems and control theory-based hazard analysis to radiation oncology

2016 ◽  
Vol 43 (3) ◽  
pp. 1514-1530 ◽  
Author(s):  
Todd Pawlicki ◽  
Aubrey Samost ◽  
Derek W. Brown ◽  
Ryan P. Manger ◽  
Gwe-Ya Kim ◽  
...  
Keyword(s):  
Control Theory ◽  
Radiation Oncology ◽  
Hazard Analysis ◽  
Systems And Control ◽  
And Control
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