On dynamically consistent Jacobian inverse for non-holonomic robotic systems
This paper presents the dynamically consistent Jacobian inverse for non-holonomic robotic system, and its application to solving the motion planning problem. The system’s kinematics are represented by a driftless control system, and defined in terms of its input-output map in accordance with the end...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Polish Academy of Sciences
2017-12-01
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| Series: | Archives of Control Sciences |
| Subjects: | |
| Online Access: | http://www.degruyter.com/view/j/acsc.2017.27.issue-4/acsc-2017-0033/acsc-2017-0033.xml?format=INT |