Kinematic controllability and decoupled trajectory planning for underactuated mechanical systems

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2001, Pages 3300-3307

  Bullo, F ^a   Lynch, K M ^a  

^a University of Illinois at Urbana Champaign   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; MANIPULATORS; TRAJECTORIES;

UNDERACTUATED MECHANICAL SYSTEMS;

ROBOTICS;

EID: 0034873859     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (16)

1. Time-optimal control of robotic manipulators along specified paths
2. Minimum-time control of robotic manipulators with geometric path constraints
3. Improving the efficiency of time-optimal path-following algorithms
4. Computation of path constrained time optimal motions with dynamic singularities
5. On computing the global time-optimal motions of robotic manipulators in the presence of obstacles
6. Collision-free trajectory planning for a 3-dof robot with a passive joint
7. Motion planning for a 3-dof robot with a passive joint
8. Stabilization of relative equilibria for underactuated systems on Riemannian manifolds
9. On the homogeneity of the affine connection model for mechanical control systems
10. Configuration controllability of simple mechanical control systems
11. When is a mechanical control system kinematic?
12. Nonholonomic multibody mobile robots: Controllability and motion planning in the presence of obstacles
13. A motion planner for nonholonomic mobile robots
14. Geometric phases and robotic locomotion