Nonholonomic Motion Planning Strategy for Underactuated Manipulator
Joint Authors
Tan, Yuegang
Li, Liang
Li, Zhang
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-12-17
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Li, Liang& Tan, Yuegang& Li, Zhang. 2014. Nonholonomic Motion Planning Strategy for Underactuated Manipulator. Journal of Robotics،Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1042878
Modern Language Association (MLA)
Li, Liang…[et al.]. Nonholonomic Motion Planning Strategy for Underactuated Manipulator. Journal of Robotics No. 2014 (2014), pp.1-10.
https://search.emarefa.net/detail/BIM-1042878
American Medical Association (AMA)
Li, Liang& Tan, Yuegang& Li, Zhang. Nonholonomic Motion Planning Strategy for Underactuated Manipulator. Journal of Robotics. 2014. Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1042878
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1042878