A general nonholonomic motion planning strategy for Caplygin systems

2002 ◽  
Author(s):  
M. Reyhanoglu
Keyword(s):  
Motion Planning ◽  
Planning Strategy ◽  
Nonholonomic Motion Planning

scholarly journals Nonholonomic Motion Planning Strategy for Underactuated Manipulator

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Liang Li ◽  
Yuegang Tan ◽  
Zhang Li
Keyword(s):  
Motion Planning ◽  
Sensitivity Matrix ◽  
Control Laws ◽  
Planning Strategy ◽  
Initial Errors ◽  
Control Precision ◽  
Underactuated Manipulator ◽  
Mathematical Techniques ◽  
Approximation Capability ◽  
Nonholonomic Motion Planning

This paper develops nonholonomic motion planning strategy for three-joint underactuated manipulator, which uses only two actuators and can be converted into chained form. Since the manipulator was designed focusing on the control simplicity, there are several issues for motion planning, mainly including transformation singularity, path estimation, and trajectory robustness in the presence of initial errors, which need to be considered. Although many existing motion planning control laws for chained form system can be directly applied to the manipulator and steer it to desired configuration, coordinate transformation singularities often happen. We propose two mathematical techniques to avoid the transformation singularities. Then, two evaluation indicators are defined and used to estimate control precision and linear approximation capability. In the end, the initial error sensitivity matrix is introduced to describe the interference sensitivity, which is called robustness. The simulation and experimental results show that an efficient and robust resultant path of three-joint underactuated manipulator can be successfully obtained by use of the motion planning strategy we presented.

Motion Planning of a Nonholonomic Multibody System Using Genetic Algorithm

2003 ◽  
Author(s):  
Xin-Sheng Ge ◽  
Li-Qun Chen
Keyword(s):  
Genetic Algorithm ◽  
Motion Planning ◽  
Nonholonomic System ◽  
Multibody System ◽  
Planning Problem ◽  
Control Approach ◽  
Velocity Constraints ◽  
Nonholonomic Motion Planning ◽  
Optimal Control Approach ◽  
Motion Planning Problem

The motion planning problem of a nonholonomic multibody system is investigated. Nonholonomicity arises in many mechanical systems subject to nonintegrable velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the control problem of system can be converted to the motion planning problem for a driftless control system. In this paper, we propose an optimal control approach for nonholonomic motion planning. The genetic algorithm is used to optimize the performance of motion planning to connect the initial and final configurations and to generate a feasible trajectory for a nonholonomic system. The feasible trajectory and its control inputs are searched through a genetic algorithm. The effectiveness of the genetic algorithm is demonstrated by numerical simulation.

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