Lagrangian Jacobian inverse for nonholonomic robotic systems

被引：9
|
作者：
Tchon, Krzysztof [1 ]
Ratajczak, Adam [2 ]
Goral, Ida [1 ]
机构：
[1] Wroclaw Univ Technol, Elect Fac, Chair Cybernet & Robot, PL-50372 Wroclaw, Poland
[2] Wroclaw Univ Technol, Elect Fac, Chair Automat Mechatron & Control Syst, PL-50372 Wroclaw, Poland
来源：
NONLINEAR DYNAMICS | 2015年 / 82卷 / 04期
关键词：
Nonholonomic system; Motion planning; Jacobian algorithm; Optimization; CONFIGURATION-SPACE APPROACH; MOBILE MANIPULATORS; MOTION; ALGORITHM;
D O I：
10.1007/s11071-015-2288-6
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The motion planning problem for nonholonomic robotic systems is studied using the continuation method and the optimization paradigms. A new Jacobian motion planning algorithm is derived, based on a solution of the Lagrange-type optimization problem addressed in the linear approximation of the system. Performance of the new algorithm is illustrated by numeric computations performed for the unicycle robot kinematics.
引用
收藏
页码：1923 / 1932
页数：10
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