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
相关论文
共 50 条
  • [21] ON THE ADRC OF NON-DIFFERENTIALLY FLAT, UNDERACTUATED, NONLINEAR SYSTEMS: AN EXPERIMENTAL CASE STUDY
    Sira-Ramirez, H.
    Zurita-Bustamante, E. W.
    Hernandez-Flores, E.
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2017, VOL 9, 2017,
  • [22] On Motion Planning and Control for Partially Differentially Flat Systems
    Bai, Yang
    Svinin, Mikhail
    Magid, Evgeni
    Wang, Yujie
    ROBOTICA, 2021, 39 (04) : 718 - 734
  • [23] Trajectory planning of differentially flat systems with dynamics and inequalities
    Faiz, N
    Agrawal, SK
    Murray, RM
    JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2001, 24 (02) : 219 - 227
  • [24] Differentially Flat Trajectory Generation for a Dynamically Stable Mobile Robot
    Shomin, Michael
    Hollis, Ralph
    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2013, : 4467 - 4472
  • [25] Differentially Flat Design of a Closed-Chain Planar Underactuated 2-DOF System
    Zhang, Chengkun
    Franch, Jaume
    Agrawal, Sunil K.
    IEEE TRANSACTIONS ON ROBOTICS, 2013, 29 (01) : 277 - 282
  • [26] Control of underactuated biped running robot via synchronous oscillator
    Ohtake, Susumu
    Yamakita, Masaki
    Hyon, Sang-Ho
    2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, 2008, : 3236 - +
  • [27] Singular Configurations and Underactuated Balance Control for Biped Robot with Point Contact
    Tian, Jian
    Wei, Cheng
    Zhao, Yang
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2020, 17 (06)
  • [28] PLANNING OF MINIMUM-TIME TRAJECTORIES FOR ROBOT ARMS
    SAHAR, G
    HOLLERBACH, JM
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (03): : 90 - 100
  • [29] Trajectory Planning for the Bidirectional Quadrotor as a Differentially Flat Hybrid System
    Mao, Katherine
    Welde, Jake
    Hsieh, M. Ani
    Kumar, Vijay
    2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA, 2023, : 1242 - 1248
  • [30] Pseudospectral methods for optimal motion planning of differentially flat systems
    Ross, IM
    Fahroo, F
    PROCEEDINGS OF THE 41ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 2002, : 1135 - 1140
12345