Motion planning in velocity affine mechanical systems

被引：5

作者：

Jakubiak, Janusz ^{[1
]}

Tchon, Krzysztof ^{[1
]}

Magiera, Wladyslaw ^{[1
]}

机构：

[1] Wroclaw Univ Technol, Inst Comp Engn Control & Robot, PL-50372 Wroclaw, Poland

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2010年 / 83卷 / 09期

关键词：

mechanical system; position; orientation; motion planning; continuation method; MOBILE MANIPULATORS; SPACE APPROACH;

D O I：

10.1080/00207179.2010.501390

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We address the motion planning problem in specific mechanical systems whose linear and angular velocities depend affinely on control. The configuration space of these systems encompasses the rotation group, and the motion planning involves the system orientation. Derivation of the motion planning algorithm for velocity affine systems has been inspired by the continuation method. Performance of this algorithm is illustrated with examples of the kinematics of a serial nonholonomic manipulator, the plate-ball kinematics and the attitude control of a rigid body.

引用

页码：1965 / 1974

页数：10

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