Motion Planning for an Underactuated Planar Robot in a Viscous Environment

被引：5
|
作者：
Shammas, Elie [1 ]
Asmar, Daniel [1 ]
机构：
[1] Amer Univ Beirut, Dept Mech Engn, Beirut 110236, Lebanon
来源：
JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS | 2015年 / 10卷 / 05期
关键词：
NONHOLONOMIC MECHANICAL SYSTEMS; ARTICULATED BODY; EQUATIONS; BODIES;
D O I：
10.1115/1.4029509
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, we solve the motion planning problem for a class of underactuated multibodied planar mechanical systems. These systems interact with the environment via viscous frictional forces. The motion planning problem is solved by specifying the location of friction pads on the robot as well as by specifying the input of the actuated degrees of freedom. Moreover, through the proposed novel motion planning analysis, we identify the simplest planar swimming robot, the two-link swimmer.
引用
收藏
页数：11
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