APPLICATION OF INSTANTANEOUS INVARIANTS TO THE PATH TRACKING CONTROL PROBLEM OF PLANAR 2 DEGREE-OF-FREEDOM SYSTEMS - A SINGULARITY-FREE MAPPING OF TRAJECTORY GEOMETRY
Sj. Lorenc et al., APPLICATION OF INSTANTANEOUS INVARIANTS TO THE PATH TRACKING CONTROL PROBLEM OF PLANAR 2 DEGREE-OF-FREEDOM SYSTEMS - A SINGULARITY-FREE MAPPING OF TRAJECTORY GEOMETRY, Mechanism and machine theory, 30(6), 1995, pp. 883-896
This paper presents a generalized form of planar two degree-of-freedom
Curvature Theory, and applies the results to the synthesis of planar
two degree-of-freedom motions. In specific, the kinematic control prob
lem of planar path tracking systems is addressed. The theory yields a
new mapping of first-and second-order differential geometric propertie
s from the system's two-dimensional output-space (work-space) to the s
ystem's two-dimesional control-space (i.e. joint-space). This mapping
is shown to be free from any kinematic singularities.