Motion Planning of a Balancing Robot with Threefold Sub-tasks: An Endogenous Configuration Space Approach

被引：0
|
作者：
Ratajczak, Adam [1 ]
Tchon, Krzysztof [1 ]
机构：
[1] Wroclaw Univ Technol, Inst Comp Engn Control & Robot, PL-50372 Wroclaw, Poland
来源：
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2011年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper presents a task-priority motion planning algorithm for a balancing robot, derived from the endogenous configuration space approach. The motion planning problem is composed of three sub-tasks. Firstly, the robot has to reach a desirable point in task space (proper motion planning). Secondly, the upward position of the robot torso should be maintained during the motion. Thirdly, the motion should save the control energy. Performance of our algorithm is presented in simulations.
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页数：6
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