Nonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints

Shiroma, Naoji; Arai, Hirohiko; Tanie, K.

doi:10.1177/027836402321261896

Cited by 6 publications

(4 citation statements)

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“…Under a special hinging assumption, namely that each link has the following passive joint axis located at its center of percussion, it has been shown that the CP position of the last link is a flat output for the system [34]. The sequential planning algorithm of [1] has been extended in [45] to this case, while the flatness approach has been detailed in [22]. We summarize here the results of [22] for the case n = 4, characterizing also potential dynamic singularities that should be avoided at the planning stage.…”

Section: A Planar Robot With Two Passive Jointsmentioning

confidence: 99%

“…The degree of underactuation is thus equal to two. It is assumed that the fourth link is hinged exactly at the center of percussion (CP 3 ) of the third link, which is the same special condition used in [34,45].…”

Section: Dynamic Model and Partial Feedback Linearizationmentioning

confidence: 99%

“…Under the action of the dynamic compensator (43), (45), the robot system has been made equivalent to the linear and controllable form i.e., two decoupled chains of six integrators each. The total number of output derivatives (6 + 6 = 12) equals the dimension 2n + ν of the extended state space.…”

Section: Dynamic Model and Partial Feedback Linearizationmentioning

confidence: 99%

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Planning Motions for Robotic Systems Subject to Differential Constraints

Luca

Oriolo

Vendittelli

et al. 2004

Springer Tracts in Advanced Robotics

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Abstract. We consider the problem of planning point-to-point motion for general robotic systems subject to non-integrable differential constraints. The constraints may be of first order (on velocities) or of second order (on accelerations). Various nonlinear control techniques, including nilpotent approximations, iterative steering, and dynamic feedback linearization, are illustrated with the aid of four case studies: the plate-ball manipulation system, the general two-trailer mobile robot, a two-link robot with flexible forearm, and a planar robot with two passive joints. The first two case studies are non-flat nonholonomic kinematic systems, while the last two are flat underactuated dynamic systems.

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Section: A Planar Robot With Two Passive Jointsmentioning

confidence: 99%

Section: Dynamic Model and Partial Feedback Linearizationmentioning

confidence: 99%

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Planning Motions for Robotic Systems Subject to Differential Constraints

Luca

Oriolo

Vendittelli

et al. 2004

Springer Tracts in Advanced Robotics

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“…[23] [9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25][26][27]. De Luca [16] 2009 Roy and Asada [27] wing box…”

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A Control Strategy for Torque-unit Manipulators

Yoshida

Katayama

Kinugasa

et al. 2013

Transactions of ISCIE

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Torque-unit Manipulator (TUM) is a design concept of space manipulator. A device which is called "torque unit" is equipped on each link of a kinematic chain whose joints are all free. The "torque unit" can be made easily of a rotary actuator and a disc. TUM is a kind of nonholonomic system and the angular velocity of each disc at each time depends on the trajectories of the links. Controllability has been considered to control the position of each link to desired position and the angular velocity of each disc to desired constant value, by planning the trajectories of the links for 2-dimensional N d.o.f. TUM. It consequently has been shown that it is impossible to control the angular velocity of each disc to desired constant value since TUM has a first integral. However the first integral allows us to control the angular velocities of the all discs to a constant value of zero. Then, a control strategy is considered and described based on the results of the consideration on the controllability of all state valuables of TUM in this paper.

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