Title: Variational motion design in the presence of obstacles
Language: English
Authors: Hofer, Michael
Qualification level: Doctoral
Advisor: Husty, Manfred 
Assisting Advisor: Pottmann, Helmut
Issue Date: 2004
Number of Pages: 88
Qualification level: Doctoral
In this thesis we study the design of energy-minimizing rigid body motions that interpolate given input positions and avoid given fixed obstacles.
Our motion design problem is a curve interpolation problem in an appropriate manifold which in the unconstrained case is the group of Euclidean congruence transformations. We introduce a new metric for motion design where the mass distribution of the moving body enters the calculation, use a variational approach, derive interesting theoretic results concerning motion design and energy minimizing splines in manifolds, employ geometric optimization algorithms for the numerical solution of the posed problems and include the avoidance of obstacles in the design process via the use of appropriate barrier manifolds.
Keywords: Starrer Körper; Bewegung; Planung; Hindernis
URI: https://resolver.obvsg.at/urn:nbn:at:at-ubtuw:1-9852
Library ID: AC04497314
Organisation: E104 - Institut für Diskrete Mathematik und Geometrie 
Publication Type: Thesis
Appears in Collections:Thesis

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