New Results on Trajectory Planning for Underactuated Mechanical Systems with Singularities in Dynamics of a Motion Generator

被引：0
|
作者：
Surov, Maksim O. [1 ]
Gusev, Sergei V. [2 ]
Shiriaev, Anton S. [1 ]
机构：
[1] Norwegian Univ Sci & Technol NTNU, Dept Engn Cybernet, Trondheim, Norway
[2] St Petersburg State Univ, Fac Math & Mech, St Petersburg, Russia
来源：
2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC) | 2018年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The new approach to the problem of motion planning for underactuated mechanical systems is proposed. The novelty comes from new opportunities to handle singularities of the dynamics of the motion generator provided that the motion is rewritten using the nested representation and kinematic servo-connection between generalized coordinates of the system. The contribution is illustrated by the example of planning oscillations of the Furuta pendulum around the horizontal.
引用
收藏
页码：6900 / 6905
页数：6
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