论文信息 - Modeling and motion planning for a class of weight handling equipment

Modeling and motion planning for a class of weight handling equipment

A unified framework for the modeling of a class of weight handling equipment (WHE) is presented. The dynamic equations are obtained using Lagrange multipliers 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.

Jean Lévine | Bálint Kiss | Ph. Mullhaupt

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