RIA: Repeatability in Nonholonomic Mechanical Systems

RIA：非完整机械系统的可重复性

• 批准号: 9410157
• 负责人: Ranjan Mukherjee
• 金额: $ 6.82万
• 依托单位: Naval Postgraduate School
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1994
• 资助国家: 美国
• 起止时间: 1994-10-01 至 1997-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9410157&HistoricalAwards=false
• 关键词: RIA; Repeatability; Nonholonomic; Mechanical; Systems

9410157 Mukherjee This project deals with the planning of closed paths for non holonmic systems which are characterized by the non- integrable nature of their differential constraints. These constraints manifest themselves in a way that closed trajectories of the independent variables of the system result in a change in the dependent variables. In certain nonholonomic systems, closed paths in the space of independent variables can be so designed that the net change of dependent variables is zero over these closed paths. Such systems are important in a manufacturing environment for example, kinetically redundant manipulators operating under pseudo inverse control ***

9410157 Mukherjee这个项目涉及非完整系统的封闭路径的规划，其特征在于其微分约束的不可积性。这些约束以系统自变量的闭合轨迹导致因变量变化的方式表现出来。在某些非完整系统中，独立变量空间中的闭合路径可以设计成使得在这些闭合路径上因变量的净变化为零。这样的系统在制造环境中是重要的，例如，在伪逆控制下操作的运动冗余机械手 *