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CIM's 20th Anniversary Seminar Series

Robots and Autonomous Machines: Towards Integrated Design, Trajectory Planning , and Control


Prof. Sunil K. Agrawal < agrawal@me.udel.edu >
Dept. of Mechanical Engineering University of Delaware
Newark Delaware USA

April 5, 2006 at  11:30 AM
Macdonald Engineering - MD347

This talk is based on exploiting the underlying structure of the governing equations of a dynamic system to establish properties such as feedback linearizability or differential flatness. Once these properties are established, trajectory planning and tracking can be solved in a simplified manner. This approach is demonstrated through a number of example robot systems. Furthermore, an approach is presented for design of robotic systems to be differential flat, through inertia redistribution.