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In [[robot]] [[motion planning]], a '''Pfaffian constraint''' is a set of ''k'' [[linearly independent]] [[Constraint (mathematics)|constraint]]s linear in velocity, i.e., of the form
 
<math>A(q) \dot q=0</math>
 
One source of Pfaffian constraints is rolling without slipping in [[wheeled robot]]s.<ref name=Choset2005>{{cite book
| author = Choset, H.M.
| year = 2005
| title = Principles of Robot Motion: Theory, Algorithms, and Implementation
  | publisher = The MIT Press
| isbn = 0-262-03327-5
}}</ref>
 
==References==
{{reflist}}
 
[[Category:Robot kinematics]]
[[Category:Control theory]]

Revision as of 19:22, 22 November 2013

In robot motion planning, a Pfaffian constraint is a set of k linearly independent constraints linear in velocity, i.e., of the form

A(q)q˙=0

One source of Pfaffian constraints is rolling without slipping in wheeled robots.[1]

References

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