Abstract
This paper presents a generalized form of planar two degree-of-freedom Curvature Theory, and applies the results to the synthesis of planar two degree-of-freedom motions. In specific, the kinematic control problem of planar path tracking systems is addressed. The theory yields a new mapping of first- and second-order differential geometric properties from the system's two-dimensional output-space (work-space) to the system's two-dimensional control-space (i.e. joint-space). This mapping is shown to be free from any kinematic singularities.
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