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This paper proposes an extension of the concept of the General Lagrangian Jacobian Inverse from driftless to control affine robotic systems, and presents the corresponding Jacobian motion planning algorithm in the parametric form. A specific choice of the Lagrangian is recommended. The motion planning algorithm is applied to the motion planning problem of a free-floating space manipulator with non-zero...
We shall study non-holonomic robotic systems represented by either a driftless or a control affine control system with outputs. Two types of singularities are considered: the posture singularities around which the growth vector of the system's distribution is non-constant, and the configuration singularities at which the system's Jacobian is not surjective, related with the singular optimal controls...
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