Adaptive Optimal Stochastic Trajectory Planning and Control (AOSTPC)

Kurt Marti
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Kurt Marti: Federal Armed Forces University Munich

Chapter Chapter 4 in Stochastic Optimization Methods, 2015, pp 119-194 from Springer

Abstract: Abstract An industrial, service or field robot is modeled mathematically by its dynamic equation, being a system of second order differential equations for the robot or configuration coordinates q = (q 1, …, q n )′ (rotation angles in case of revolute links, length of translations in case of prismatic links), and the kinematic equation, relating the space {q} of robot coordinates to the work space {x} of the robot.

Keywords: Configuration Space; Reference Trajectory; Work Space; Feedforward Control; Kinematic Equation (search for similar items in EconPapers)
Date: 2015
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DOI: 10.1007/978-3-662-46214-0_4

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