Motion planning and control of a simplified helicopter model based on virtual holonomic constraints.
Simon WesterbergUwe MettinAnton S. ShiriaevLeonid B. FreidovichYury OrlovPublished in: ICAR (2009)
Keyphrases
- motion planning
- robotic arm
- control law
- mechanical systems
- degrees of freedom
- mobile robot
- robot arm
- path planning
- trajectory planning
- control method
- humanoid robot
- visual servoing
- multi robot
- autonomous mobile robot
- robotic tasks
- kinematic model
- inverse kinematics
- configuration space
- obstacle avoidance
- end effector
- belief space
- manipulation tasks
- real time
- robot control
- nonlinear systems
- control strategy
- robotic systems
- spatio temporal