A Motion Planning Strategy for a Spherical Rolling Robot Driven by Two Internal Rotors

2014 ◽  
Vol 30 (4) ◽  
pp. 993-1002 ◽  
Author(s):  
Akihiro Morinaga ◽  
Mikhail Svinin ◽  
Motoji Yamamoto
Keyword(s):  
Motion Planning ◽  
Planning Strategy ◽  
Rolling Robot

scholarly journals Motion Planning of Kinematically Redundant 12-tetrahedral Rolling Robot

10.5772/62178 ◽  
2016 ◽  
Vol 13 (1) ◽  
pp. 23 ◽  
Author(s):  
Xingbo Wang ◽  
Xiaotao Wang ◽  
Zhongpeng Zhang ◽  
Ying Zhao
Keyword(s):  
Motion Planning ◽  
Rolling Robot

A motion planning strategy for multifingered hands considering sliding and rolling contacts

Robotica ◽  
1995 ◽  
Vol 13 (2) ◽  
pp. 149-158 ◽  
Author(s):  
Nak Young Chong ◽  
Donghoon Choi ◽  
Il Hong Suh
Keyword(s):  
Motion Planning ◽  
Contact Point ◽  
Robotic Hand ◽  
Time Step ◽  
Current Time ◽  
Planning Strategy ◽  
Multifingered Hands ◽  
Rolling Contacts ◽  
Finite Displacements ◽  
Joint Velocity

SummaryAn algorithm for the motion planning of the multifingered hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding contacts as well as rolling contacts between the fingertip and the object at the contact point. Specifically, a nonlinear optimization problem is firstly formulated and solved to find the minimum joint velocity and the minimum contact force to impart a desired motion to the object at each time step. Then, the relative velocity at the contact point is found by calculating the velocity of the fingertip and the object at the contact point. Finally, time derivatives of the surface variables and the contact angle of the fingertip and the object at the current time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints

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.

scholarly journals On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles

2011 ◽  
Vol 2011 ◽  
pp. 1-13
Author(s):  
Lin Xiao ◽  
Jerome Jouffroy
Keyword(s):  
Motion Planning ◽  
One Dimension ◽  
Control Input ◽  
Path Generation ◽  
Mathematical Tool ◽  
Point Boundary ◽  
Planning Strategy ◽  
Starting Point ◽  
Control Community ◽  
Point To Point

Despite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. In this paper, we investigate motion planning of such vehicles. Starting from a simple dynamic model of sailing vessels in one dimension, this paper first considers their associated controllability issues, with the so-called no-sailing zone as a starting point, and it links them with a motion planning strategy using two-point boundary value problems as the main mathematical tool. This perspective is then expanded to do point-to-point maneuvers of sailing vehicles in the plane, that is, automatic path generation combined with computation of control input profiles. Simulations are presented to illustrate the potential of the approach.

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