Modeling and motion planning for a class of weight handling equipment

• Autorzy: Kiss, B. , Levine, J. , Mullhaupt, P.
• Języki publikacji: EN

Abstrakty

EN

A unified framework for the modeling of a class of weight handling equipment (WHE) is presented. The dynamic equations are obtained using Lagrange multipiers associated to geometric constraints between generalized coordinates. This approach provides a simple way to show differential flatness for all WHEs of the class. The flatness property can then be exploited for motion planning.

Słowa kluczowe

EN

motion planning; cranes; degrees of freedom (mechanics); Lagrange multipliers; constraint theory; interpolation; polynomials

• Czasopismo: Systems Science
• Rocznik: 2000
• Tom: Vol. 26, nr 4
• Strony: 79-92
• Opis fizyczny: Bibliogr. 14 poz.

Twórcy

autor

Kiss, B.

autor

Levine, J.

autor

Mullhaupt, P.

• Centre Automatique et Systemes, Ecole Nationale Superieure des Mines de Paris, 35, rue Saint-Honore, F-77305 Fontainebleau, France,