Lagrangian Jacobian inverse for nonholonomic robotic systems

详细信息    查看全文

• 作者：Krzysztof Tchoń ; Adam Ratajczak ; Ida Góral
• 关键词：Nonholonomic system ; Motion planning ; Jacobian algorithm ; Optimization
• 刊名：Nonlinear Dynamics
• 出版年：2015
• 出版时间：December 2015
• 年：2015
• 卷：82
• 期：4
• 页码：1923-1932
• 全文大小：709 KB
• 参考文献：1.Alouges, F., Chitour, Y., Long, R.: A motion-planning algorithm for the rolling-body problem. IEEE Trans. Robot. 26(5), 827-36 (2010)CrossRef
  2.Ben-Israel, A., Greville, T.N.E.: Generalized Inverses. Springer, New York (2003)MATH
  3.Chelouah, A., Chitour, Y.: On the motion planning of rolling surfaces. Forum Math. 15, 727-58 (2003)MATH MathSciNet CrossRef
  4.Chitour, Y.: A continuation method for motion-planning problems. ESAIM Control Opt. Calc. Var. 12(1), 139-68 (2006)MATH MathSciNet CrossRef
  5.Chitour, Y., Sussmann, H.J.: Motion planning using the continuation method. In: Baillieul, J., Sastry, S.S., Sussmann, H.J. (eds.) Essays on Mathematical Robotics, pp. 91-25. Springer, New York (1998)
  6.Divelbiss, A., Seereeram, S., Wen, J.T.: Kinematic path planning for robots with holonomic and nonholonomic constraints. In: Baillieul, J., Sastry, S.S., Sussmann, H.J. (eds.) Essays on Mathematical Robotics, pp. 127-50. Springer, New York (1998)
  7.Duleba, I., Sasiadek, J.Z.: Nonholonomic motion planning based on Newton algorithm with energy optimization. IEEE Trans. Control Syst. Technol. 11(3), 355-63 (2003)CrossRef
  8.Houska, B., Ferreau, H.J., Diehl, M.: ACADO toolkit—an open-source framework for automatic control and dynamic optimization. Opt. Control Methods Appl. 32, 298-12 (2011)MATH MathSciNet CrossRef
  9.Janiak, M., Tchoń, K.: Constrained motion planning of nonholonomic systems. Syst. Control Lett. 60(9), 625-31 (2011)MATH CrossRef
  10.Jung, S., Wen, J.T.: Nonlinear model predictive control for the swingup of a rotary inverted pendulum. Trans. ASME 126, 666-73 (2004)CrossRef
  11.Ratajczak, A., Tchoń, K.: Multiple-task motion planning of non-holonomic systems with dynamics. Mech. Sci. 4, 153-66 (2013)CrossRef
  12.Ratajczak, A., Tchoń, K.: Parametric and nonparametric jacobian motion planning for non-holonomic robotic systems. J. Intell. Robot. Syst. 9, 1965-974 (2014)
  13.Ratajczak, A., Karpińska, J., Tchoń, K.: Task-priority motion planning of underactuated systems: An endogenous configuration space approach. Robotica 28, 885-92 (2010)CrossRef
  14.Sontag, E.D.: Mathematical Control Theory. Springer, New York (1990)MATH CrossRef
  15.Sontag, E.D.: A general approach to path planning for systems without drift. In: Baillieul, J., Sastry, S.S., Sussmann, H.J. (eds.) Essays on Mathematical Robotics, pp. 151-68. Springer, New York (1998)
  16.Sussmann, H.J.: A continuation method for non-holonomic path finding problems. In: Proceedings of the 32nd IEEE CDC, pp. 2718-723 (1993)
  17.Tchoń, K., Jakubiak, J.: Endogenous configuration space approach to mobile manipulators: a derivation and performance assessment of Jacobian inverse kinematics algorithms. Int. J. Control 76(9), 1387-419 (2003)MATH
  18.Tchoń, K., Ma?ek, ?.: On dynamic properties of singularity robust Jacobian inverse kinematics. IEEE Trans. Autom. Control 54(6), 1402-406 (2009)CrossRef
  19.Zadarnowska, K., Tchoń, K.: A control theory framework for performance evaluation of mobile manipulators. Robotica 25, 703-15 (2007)CrossRef
  
• 作者单位：Krzysztof Tchoń (1)
  Adam Ratajczak (2)
  Ida Góral (1)
  
  1. Chair of Cybernetics and Robotics, Electronics Faculty, Wroc?aw University of Technology, ul. Janiszewskiego 11/17, 50-72, Wroc?aw, Poland
  2. Chair of Automation, Mechatronics and Control Systems, Electronics Faculty, Wroc?aw University of Technology, ul. Janiszewskiego 11/17, 50-72, Wroc?aw, Poland
  
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Mechanics
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-269X

文摘

The motion planning problem for nonholonomic robotic systems is studied using the continuation method and the optimization paradigms. A new Jacobian motion planning algorithm is derived, based on a solution of the Lagrange-type optimization problem addressed in the linear approximation of the system. Performance of the new algorithm is illustrated by numeric computations performed for the unicycle robot kinematics. Keywords Nonholonomic system Motion planning Jacobian algorithm Optimization