scholarly journals Effective boost and “point-form” approach

2002 ◽  
Vol 65 (3) ◽  
Author(s):  
B. Desplanques ◽  
L. Theussl ◽  
S. Noguera
Keyword(s):  
Point Form ◽  
Form Approach

scholarly journals Vector mesons in a relativistic point-form approach

2003 ◽  
Vol 67 (6) ◽  
Author(s):  
A. Krassnigg ◽  
W. Schweiger ◽  
W. H. Klink
Keyword(s):  
Vector Mesons ◽  
Point Form ◽  
Form Approach

scholarly journals Normal form approach in the motion planning of space robots: a case study

2021 ◽  
Author(s):  
Krzysztof Tchoń ◽  
Katarzyna Zadarnowska
Keyword(s):  
Normal Form ◽  
Motion Planning ◽  
Normal Forms ◽  
Inverse Dynamics ◽  
Planning Problem ◽  
Inverse Dynamics Problem ◽  
Velocity Level ◽  
Form Approach ◽  
Space Approach

AbstractWe examine applicability of normal forms of non-holonomic robotic systems to the problem of motion planning. A case study is analyzed of a planar, free-floating space robot consisting of a mobile base equipped with an on-board manipulator. It is assumed that during the robot’s motion its conserved angular momentum is zero. The motion planning problem is first solved at velocity level, and then torques at the joints are found as a solution of an inverse dynamics problem. A novelty of this paper lies in using the chained normal form of the robot’s dynamics and corresponding feedback transformations for motion planning at the velocity level. Two basic cases are studied, depending on the position of mounting point of the on-board manipulator. Comprehensive computational results are presented, and compared with the results provided by the Endogenous Configuration Space Approach. Advantages and limitations of applying normal forms for robot motion planning are discussed.

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