期刊
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
卷 17, 期 4, 页码 402-412出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/70.954753
关键词
affine connections; nonlinear controllability; trajectory planning; underactuated manipulation
We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying this property, the problem of planning fast collision-free trajectories between zero velocity states can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time-optimal time scaling. While this approach is well known for fully actuated systems, until now there has been no way to apply it to underactuated. dynamic systems. The results in this paper form the basis for efficient collision-free trajectory planning for a class of underactuated mechanical systems including manipulators and vehicles in space and underwater environments.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据