<div class="csl-bib-body">
<div class="csl-entry">Hofer, M. (2004). <i>Variational motion design in the presence of obstacles</i> [Dissertation, Technische Universität Wien]. reposiTUm. https://resolver.obvsg.at/urn:nbn:at:at-ubtuw:1-9852</div>
</div>
In this thesis we study the design of energy-minimizing rigid body motions that interpolate given input positions and avoid given fixed obstacles.<br />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.
de
dc.language
English
-
dc.language.iso
en
-
dc.rights.uri
http://rightsstatements.org/vocab/InC/1.0/
-
dc.subject
Starrer Körper
de
dc.subject
Bewegung
de
dc.subject
Planung
de
dc.subject
Hindernis
de
dc.title
Variational motion design in the presence of obstacles
en
dc.type
Thesis
en
dc.type
Hochschulschrift
de
dc.rights.license
In Copyright
en
dc.rights.license
Urheberrechtsschutz
de
dc.contributor.affiliation
TU Wien, Österreich
-
dc.rights.holder
Michael Hofer
-
tuw.version
vor
-
tuw.thesisinformation
Technische Universität Wien
-
dc.contributor.assistant
Pottmann, Helmut
-
tuw.publication.orgunit
E104 - Institut für Diskrete Mathematik und Geometrie