• Title/Summary/Keyword: weighted impact ellipsoid

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Impact minimization by impact ellipsoids (임팩트 타원을 이용한 임팩트의 최소화)

  • Lee, Ji-Hong;Lee, Young-Il;Yoo, Jun
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.726-729
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    • 1996

  • 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.

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