Geometric Phases, Anholonomy, and Optimal Movement
Technical research rept.
MARYLAND UNIV COLLEGE PARK SYSTEMS RESEARCH CENTER
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In the search for useful strategies for movement of robotic systems e.g., manipulators, platforms in constrained environments e.g., in space, underwater, there appear to be new principles emerging from a deeper geometric understanding of optimal movements of nonholonomically constrained systems. In this work, the authors have exploited some new formulas for geometric phase shifts to derive effective control strategies. The theory of connections in principal bundles provides the proper framework for questions of the type addressed in this paper. They outline the essentials of this theory. A related optimal control problem and its localizations are also considered.
- Numerical Mathematics
- Human Factors Engineering and Man Machine Systems