Motion planning for variable inertia mechanical systems

2006 ◽  
Author(s):  
Elie A. Shammas ◽  
Howie Choset ◽  
Alfred A. Rizzi
Keyword(s):  
Motion Planning ◽  
Mechanical Systems

Motion Planning and Differential Flatness of Mechanical Systems on Principal Bundles

2015 ◽  
Author(s):  
Tony Dear ◽  
Scott David Kelly ◽  
Matthew Travers ◽  
Howie Choset
Keyword(s):  
Nonlinear Control ◽  
Motion Planning ◽  
Geometric Structure ◽  
Mechanical Systems ◽  
Differential Flatness ◽  
Planning Problem ◽  
Principal Bundles ◽  
General Motion ◽  
Motion Planning Problem

Mechanical systems often exhibit physical symmetries in their configuration variables, allowing for significant reduction of their mathematical complexity arising from characteristics such as underactuation and nonlinearity. In this paper, we exploit the geometric structure of such systems to explore the following motion planning problem: given a desired trajectory in the workspace, can we explicitly solve for the appropriate inputs to follow it? We appeal to results on differential flatness from the nonlinear control literature to develop a general motion planning formulation for systems with symmetries and constraints, which also applies to both fully constrained and unconstrained kinematic systems. We conclude by demonstrating the utility of our results on several canonical mechanical systems found in the locomotion literature.

Motion Planning for an Underactuated Planar Robot in a Viscous Environment

2015 ◽  
Vol 10 (5) ◽  
Author(s):  
Elie Shammas ◽  
Daniel Asmar
Keyword(s):  
Motion Planning ◽  
Degrees Of Freedom ◽  
Mechanical Systems ◽  
Planning Problem ◽  
Frictional Forces ◽  
Planar Robot ◽  
Motion Planning Problem

In this paper, we solve the motion planning problem for a class of underactuated multibodied planar mechanical systems. These systems interact with the environment via viscous frictional forces. The motion planning problem is solved by specifying the location of friction pads on the robot as well as by specifying the input of the actuated degrees of freedom. Moreover, through the proposed novel motion planning analysis, we identify the simplest planar swimming robot, the two-link swimmer.

A Hybrid Systems Framework for Motion Planning with Motion Primitives of Mechanical Systems

PAMM ◽  
2014 ◽  
Vol 14 (1) ◽  
pp. 913-914
Author(s):  
Kathrin Flaßkamp ◽  
Sebastian Hage-Packhäuser ◽  
Sina Ober-Blöbaum
Keyword(s):  
Motion Planning ◽  
Hybrid Systems ◽  
Mechanical Systems ◽  
Motion Primitives ◽  
Systems Framework
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