• 제목/요약/키워드: weighted impact ellipsoid

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

  • 이지홍;이영일;유준
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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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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