Lagrangian Jacobian Motion Planning: A Parametric Approach
نویسندگان
چکیده
منابع مشابه
Regular Jacobian Motion Planning Algorithms for Mobile Manipulators
A mobile manipulator is defined as a robotic system composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The kinematics of the mobile manipulator, describing velocity constraints imposed on the platform and determining actual position and orientation of the end effector, are represented by a driftless control system with outputs. The motion planning prob...
متن کاملTrajectory Analysis Using Switched Motion Fields: A Parametric Approach
This paper presents a new model for trajectories in video sequences using mixtures of motion fields. Each field is described by a simple parametric model with only a few parameters. We show that, despite the simplicity of the motion fields, the overall model is able to generate complex trajectories occuring in video analysis.
متن کاملThe Symmetries of Equivalent Lagrangian Systems and Constants of Motion
In this paper Mathematical structure of time-dependent Lagrangian systems and their symmetries are extended and the explicit relation between constants of motion and infinitesimal symmetries of time-dependent Lagrangian systems are considered. Starting point is time-independent Lagrangian systems ,then we extend mathematical concepts of these systems such as equivalent lagrangian systems to th...
متن کاملDuality – A Lagrangian Approach
The objective of this module is to understand key problems that arise when moving from finite dimensional linear programs to infinite dimensional linear programs. Students are introduced to the theory of linear programming in 36900. In 36900 the primary focus is on linear and integer programs with a finite number of constraints and variables. However, there are many applications where the numbe...
متن کاملA Random Matrix Approach to Manipulator Jacobian
Traditional kinematic analysis of manipulators, built upon a deterministic articulated kinematic modeling often proves inadequate to capture uncertainties affecting the performance of the real robotic systems. While a probabilistic framework is necessary to characterize the system response variability, the random variable/vector based approaches are unable to effectively and efficiently charact...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Intelligent & Robotic Systems
سال: 2016
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-016-0394-4