제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Impact minimization by impact ellipsoids

임팩트 타원을 이용한 임팩트의 최소화

  • 이지홍 (충남대학교 메카트로닉스공학과) ;
  • 이영일 (충남대학교 메카트로닉스공학과) ;
  • 유준 (충남대학교 전자공학과)
  • Published : 1996.10.01
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Abstract

A weighted impact ellipsoid normalized by maximum allowable angular velocity changes is defined and compared with conventional impact ellipsoids and impact polytopes. The results shows that the conventional impact ellipsoid may give false solution as far as the optimal direction of motion is concerned.

Keywords