G. Campion, B. d'Andrea Novel, and G. Bastin. Modelling and state feedback control of nonholonomic mechanical systems. In Proceedings of the 30th IEEE Conference on Decision and Control, pages 1184--1189, Brighton, England, December 1991. Home/Search Document Not in Database Summary Related Articles Check |
This paper is cited in the following contexts:
Modeling of Multiple Mobile Manipulators Handling a.. - Tanner.. (Correct)
....it is a redundant mechanism, with all the inherent capabilities and problems of such systems. However, as it is always the case, there is a price to pay for advantages: more difficulty in control. This difficulty is due mainly to a class of motion constraints called nonholonomic [20] 1] 14] [6], 23] These constraints are equations involving the generalized coordinates and their derivatives in a way that makes them non integrable. Thus, the dimension of the configuration space can not be reduced. Under the effect of such constraints the system maintains its controllability [8] but is ....
B. d'Andrea-Novel G. Campion and G. Bastin, Modelling and state feedback control of nonholonomic mechanical systems, Proceedings of the 1991 IEEE Conference on Decision and Control, December 1991.
Advanced Agricultural Robots: Kinematics and Dynamics of.. - Tanner, al. (Correct)
....is very promising for the employment of multiple mobile manipulator systems. The use of such systems for packaging and palletizing in food industry has also been considered (Dreyer, 1994; Masinick, 1994) The mobile base of a mobile manipulator is subject to motion constraints called nonholonomic (Campion and Bastin, 1991). Many of the models proposed for mobile manipulator systems do not include them (Khatib et al. 1995; Tarn et al. 1996) Others include them, using classic Euler Lagrange (Yamamoto, 1994) and Newton Euler formulations (Chen and Zalzala, 1995) but do not consider all constraints imposed in ....
....The model can easily be brought (Tarn et al. 1996) into the classical form: M(q)q C(q, q# ) G(q) F e =# (19) The nonholonomic constraints are expressed as A(q)q# =0. Let S(q) be the matrix the columns of which span the null space of A. S implies the existence of variables ##R n 2 such that (Campion and Bastin, 1991) q# =S#. Then Eq. 19) can be transformed to: Q(q)## f(q, #) g(q) B(# F e ) 20) UNCORRECTED PROOF typeset2: sco4 jobs2 ELSEVIER cea week.40 Pcea1578.001001 Wed Nov 1 11:16:22 2000 Page Wed H.G. Tanner et al. Computers and Electronics in Agriculture 000 (2000) 000 000 12 where Q=S T ....
Campion, B.d.-N., Bastin, G., 1991. Modelling and state feedback control of nonholonomic mechanical systems. In: Proceedings of the 1991 IEEE Conference on Decision and Control.
Full Paper Sheet Control Using Hybrid Automata Rene.. - University Of California (Correct)
No context found.
G. Campion, B. d'Andrea Novel, and G. Bastin. Modelling and state feedback control of nonholonomic mechanical systems. In Proceedings of the 30th IEEE Conference on Decision and Control, pages 1184--1189, Brighton, England, December 1991.
Mobile Manipulator Modeling with Kane's Approach - Tanner, Kyriakopoulos (Correct)
No context found.
G. Campion, B. d'Andrea Novel, and G. Bastin. Modelling and state feedback control of nonholonomic mechanical systems. In Proceedings of the 1991 IEEE Conference on Decision and Control, December 1991.
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