Bibliographic Metadata

Title
Variational motion design in the presence of obstacles / Michael Hofer
AuthorHofer, Michael
CensorHusty, Manfred ; Pottmann, Helmut
Published2004
DescriptionXIV, 88, IV S. : Ill., graph. Darst.
Institutional NoteWien, Techn. Univ., Diss., 2005
Annotation
Zsfassung in dt. Sprache
LanguageEnglish
Bibl. ReferenceOeBB
Document typeDissertation (PhD)
Keywords (GND)Starrer Körper / Bewegung / Planung / Hindernis
URNurn:nbn:at:at-ubtuw:1-9852 Persistent Identifier (URN)
Restriction-Information
 The work is publicly available
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Variational motion design in the presence of obstacles [6.69 mb]
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Abstract (German)

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.

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