| dc.contributor.author | Surov, Maksim | |
| dc.contributor.author | Gusev, Marjan | |
| dc.contributor.author | Shiriaev, Anton | |
| dc.date.accessioned | 2019-09-23T07:31:33Z | |
| dc.date.available | 2019-09-23T07:31:33Z | |
| dc.date.created | 2019-01-20T08:29:33Z | |
| dc.date.issued | 2018 | |
| dc.identifier.citation | I E E E Conference on Decision and Control. Proceedings. 2018, 6900-6905. | nb_NO |
| dc.identifier.issn | 0743-1546 | |
| dc.identifier.uri | http://hdl.handle.net/11250/2618141 | |
| dc.description.abstract | The new approach to the problem of motion planning for underactuated mechanical systems is proposed. The novelty comes from new opportunities to handle singularities of the dynamics of the motion generator provided that the motion is rewritten using the nested representation and kinematic servo-connection between generalized coordinates of the system. The contribution is illustrated by the example of planning oscillations of the Furuta pendulum around the horizontal. | nb_NO |
| dc.language.iso | eng | nb_NO |
| dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
| dc.title | New Results on Trajectory Planning for Underactuated Mechanical Systems with Singularities in Dynamics of a Motion Generator | nb_NO |
| dc.type | Journal article | nb_NO |
| dc.type | Peer reviewed | nb_NO |
| dc.description.version | acceptedVersion | nb_NO |
| dc.source.pagenumber | 6900-6905 | nb_NO |
| dc.source.journal | I E E E Conference on Decision and Control. Proceedings | nb_NO |
| dc.identifier.doi | 10.1109/CDC.2018.8618669 | |
| dc.identifier.cristin | 1661086 | |
| dc.relation.project | Norges forskningsråd: 262363 | nb_NO |
| dc.description.localcode | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
| cristin.unitcode | 194,63,25,0 | |
| cristin.unitname | Institutt for teknisk kybernetikk | |
| cristin.ispublished | true | |
| cristin.fulltext | preprint | |
| cristin.qualitycode | 1 | |
