(Department seminar no. 38)

Time: May, 5th, 2016, 11:15
Place: room 208 C-3

Speaker: Dr. Joanna Ratajczak

Subject: Dynamically consistent Jacobian inverse for non-holonomic robotic systems

 In this talk we will present the dynamically consistent Jacobian inverse for non-holonomic robotic systems, whose derivation relies on an analogy to robotic manipulators (holonomic systems). The new inverse will be formulated within the framework of the endogenous configuration space approach. Similarly as for robotic manipulators, the dynamic consistency of the Jacobian inverse for non-holonomic systems prevents the transmission of some internal forces acting in the system from the endogenous configuration space to the operational space. The dynamically consistent Jacobian inverse will be used to solve the motion planning problem.