Optimization of locomotion for multibody systems moving along a plane
Abstract eng: Dynamics and control of multibody systems moving along a horizontal plane are considered. The bodies perform translational motions subject to friction along the plane and control forces due to the interaction between the neighboring bodies. The friction forces obey Coulomb’s law. Several types of multibody systems are considered. Optimal motions are obtained that correspond to the maximum average speed or to the shortest way of translation. The obtained results are applicable to mobile robotic systems.
Publisher:
International Union of Theoretical and Applied Mechanics, 2016
Conference Title:
Conference Title:
24th International Congress of Theoretical and Applied Mechanics
Conference Venue:
Montreal (CA)
Conference Dates:
2016-08-21 / 2016-08-26
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2016-11-15, last modified 2016-11-15
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