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Wykorzystując metodę homotopii, w pracy zaproponowano algorytm określenia funkcji sterującej afinicznego układu sterowania na podstawie jego trajektorii stanu, polegający na rozwiązaniu pewnego cząstkowego równania różniczkowego. Algorytm został zastosowany do układu sterowania typu podwójny integrator i do modelu kinematyki robota mobilnego typu monocykl.
A mobile manipulator is a robotic system composed of a mobile platform and a manipulator mounted atop of the platform. From control theoretic viewpoint the kinematics of the mobile manipulator can be represented by means of a driftless control system with outputs. Assuming this kind of representation we define basic concepts concerned with the kinematics of mobile manipulators and develop a consistent...
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