Christoph Stöger

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This paper focuses on highly efficient real-time capable time-optimal trajectory planning for point-to-point motions. A method based on the concept of dynamic movement primitives is developed. Thereby an offline generated time-optimal point-to-point trajectory considering nonlinear physical constraints serves as reference for a movement primitive. Through(More)
The use of more than one steerable (standard) driving wheel allows a robot to perform omnidirectional motions. However, the modeling and control of such robots is challenging since the system is non-holonomic, nonlinear and typically over actuated. Moreover, such platforms exhibit kinematic singularities. A well known singular configuration is the(More)
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