Abstract
Using a control system representation of kinematics we define and investigate posture and configuration singularities of nonholonomic robotic systems. A significance of these singularities and their interdependence are illustrated with an example of a car pulling two trailers.
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Tchoń, K. (2000). On Kinematic Singularities of Nonholonomic Robotic Systems. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) Romansy 13. International Centre for Mechanical Sciences, vol 422. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2498-7_7
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DOI: https://doi.org/10.1007/978-3-7091-2498-7_7
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-2500-7
Online ISBN: 978-3-7091-2498-7
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