Planning of Underactuated Differentially Flat Robot Trajectories with a via Point

被引：0
|
作者：
Tonan, Michele [1 ]
Doria, Alberto [1 ]
Bottin, Matteo [1 ]
Rosati, Giulio [1 ]
机构：
[1] Univ Padua, Dept Ind Engn DII, I-35131 Padua, Italy
来源：
NEW TRENDS IN MECHANISM AND MACHINE SCIENCE, EUCOMES 2024 | 2024年 / 165卷
关键词：
Underactuated planar robot; Differentially flat; Trajectory planning;
D O I：
10.1007/978-3-031-67295-8_11
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Underactuated robots usually perform point-to-point motions exploiting the differential flatness property. This paper aims to extend the capabilities of this class of robots considering a via point in the workspace. A method for trajectory planning in the space of flat variables is presented. Flat variables are described by means of polynomials and have to guarantee the continuity of motor torques. Numerical results and experimental tests carried out on a 2 degree of freedom prototype show the validity of the method, which allows the robot to avoid an obstacle in the workspace.
引用
收藏
页码：93 / 100
页数：8
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