Trajectory planning in robotic systems: a continuation method approach
نویسنده
چکیده
This paper addresses the trajectory planning problem in robotic systems that can be represented by an affine control system with output. Using as a guideline the continuation method, a partial differential equation has been associated with the control system and its variational system, whose solution yields a 1–parameter family of control functions. After passing with the parameter to infinity a solution to the trajectory planning problem is obtained. The approach developed in the paper has been illustrated with a trajectory planning problem for the kinematics of the rolling ball.
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