Trajectory planning for mechatronic drives on the base of holonomic automatic systems approach

Abstract

A large quantity of mechatronic drives is based on trajectory constructing on topological manifolds (particularly on curves and surfaces) with given accuracy. For automated control of these systems it is preferable for trajectory planning to be given in the form of finite equation or system of equations. These systems with the behavior which is established with exactness up to variety intersection are related to the class of holonomic systems.