Kinematics and dynamics motion planning by polar piecewise interpolation and geometric considerations.

Dupac, M., 2018. Kinematics and dynamics motion planning by polar piecewise interpolation and geometric considerations. Electronic Notes in Discrete Mathematics, 67 (June), pp. 19-24.

Full text available as:

[img] PDF
Paper_M_Dupac_DM_V1.pdf - Accepted Version
Restricted to Repository staff only until 14 June 2019.
Available under License Creative Commons Attribution Non-commercial No Derivatives.

442kB

DOI: 10.1016/j.endm.2018.05.004

Abstract

The importance of numerical methods in science and engineering [Chapra, S.C., and R.P. Canale, “Numerical Methods for Engineers,” McGraw-Hill, 6th Ed., 2010] was long recognised and considered a fundamental factor in improving productivity and reducing production costs. The ability to model flexible systems and describe their trajectories [Gasparetto A., Boscariol P., Lanzutti A., Vidoni R., Trajectory planning in Robotics, Mathematics in Computer Science 6 (2012), pp. 269–279] involves usually the study of nonlinear coupled partial differential equations. Since their exact solutions are not normally feasible in practice, computational methods [V. Kumar, M. Zefran, J.P. Ostrowski, Motion Planning and Control of Robots, Handbook of Industrial Robotics, 2nd Edition, J. Wiley and Sons (2007), pp. 295–315] can be considered.

Item Type:Article
ISSN:1571-0653
Uncontrolled Keywords:Numerical methods; motion planning; kinematics; dynamics
Group:Faculty of Science & Technology
ID Code:30906
Deposited By: Unnamed user with email symplectic@symplectic
Deposited On:25 Jun 2018 13:05
Last Modified:25 Jun 2018 13:05

Downloads

Downloads per month over past year

More statistics for this item...
Repository Staff Only -