Abstract
We study robotic systems subject to Pfaffian constraints in the affine form. A control system representation of such a system is given in the form of a control-affine system. Normal forms under feedback are considered and used both as a description of configuration singularities of the robotic system as well as a tool for solving the motion planning problem. An example of a space manipulator is analysed in detail to illustrate the theoretical concepts.
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Acknowledgement
Author 2 was assisted by the National Science Centre Poland, grant decision No. 2015/17/B/ST7/03995. Authors 1 and 3 were supported by the Wrocław University of Science and Technology under a research project number 0401/0143/17.
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Tchoń, K., Ratajczak, J., Jakubiak, J. (2019). Normal Forms of Robotic Systems with Affine Pfaffian Constraints: A Case Study. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_29
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DOI: https://doi.org/10.1007/978-3-319-93188-3_29
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