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
相关论文
共 50 条
  • [41] 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
  • [42] Motion Planning for Variable Inertia Mechanical Systems
    Shammas, Elie A.
    Choset, Howie
    Rizzi, Alfred A.
    ALGORITHMIC FOUNDATION OF ROBOTICS VII, 2008, 47 : 375 - 390
  • [43] Motion planning in velocity affine mechanical systems
    Jakubiak, Janusz
    Tchon, Krzysztof
    Magiera, Wladyslaw
    INTERNATIONAL JOURNAL OF CONTROL, 2010, 83 (09) : 1965 - 1974
  • [44] Motion planning for variable inertia mechanical systems
    Shammas, Elie A.
    Choset, Howie
    Rizzi, Alfred A.
    UNMANNED SYSTEMS TECHNOLOGY VIII, PTS 1 AND 2, 2006, 6230
  • [45] Trajectory planning and feedforward design for high performance motion systems
    Lambrechts, P
    Boerlage, M
    Steinbuch, M
    PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2004, : 4637 - 4642
  • [46] Dynamics-Consistent Motion Planning for Underactuated Ships Using Virtual Holonomic Constraints
    Kolyubin, Sergey A.
    Shiriaev, Anton S.
    2014 OCEANS - ST. JOHN'S, 2014,
  • [47] Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints
    Su, Tingting
    Liang, Xu
    He, Guangping
    Jia, Taoming
    Zhao, Quanliang
    Zhao, Lei
    APPLIED SCIENCES-BASEL, 2019, 9 (20):
  • [48] Trajectory planning of a new mechanical press with controllable mechanism
    Guo, WZ
    Du, R
    IASTED: PROCEEDINGS OF THE IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS, 2003, : 116 - 121
  • [49] On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots
    Pappalardo, Carmine M.
    Guida, Domenico
    ARCHIVE OF APPLIED MECHANICS, 2019, 89 (04) : 669 - 698
  • [50] On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots
    Carmine M. Pappalardo
    Domenico Guida
    Archive of Applied Mechanics, 2019, 89 : 669 - 698
12345