Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm

Jacobian motion planning of nonholonomic robots: The Lagrangian Jacobian algorithm

2015 10th International Workshop on Robot Motion and Control (RoMoCo) ◽

10.1109/romoco.2015.7219740 ◽

2015 ◽

Cited By ~ 2

Author(s):

Krzysztof Tchon ◽

Ida Goral ◽

Adam Ratajczak

Keyword(s):

Motion Planning ◽

Nonholonomic Robots ◽

Jacobian Motion Planning ◽

Jacobian Algorithm

Download Full-text

Motion planning of the trident snake robot equipped with passive or active wheels

Bulletin of the Polish Academy of Sciences Technical Sciences ◽

10.2478/v10175-012-0067-9 ◽

2012 ◽

Vol 60 (3) ◽

pp. 547-555 ◽

Cited By ~ 5

Author(s):

D. Paszuk ◽

K. Tchoń ◽

Z. Pietrowska

Keyword(s):

Control System ◽

Motion Planning ◽

Computer Simulations ◽

Configuration Space ◽

Snake Robot ◽

System Representation ◽

And Control ◽

Planning Problems ◽

Jacobian Algorithm ◽

Space Approach

Abstract We study the kinematics of the trident snake robot equipped with either active joints and passive wheels or passive joints and active wheels. A control system representation of the kinematics is derived, and control singularities examined. Two motion planning problems are addressed, corresponding to diverse ways of controlling the robot, and solved by means of the endogenous configuration space approach. The constraints imposed by the presence of control singularities are handled using the imbalanced Jacobian algorithm assisted by an auxiliary feedback. Performance of the motion planning algorithms is demonstrated by computer simulations.

Download Full-text

Jacobian-Based Algorithm for Motion Planning for Underactuated Systems Undergoing Forward and Reverse Rotations

Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2008-49413 ◽

2008 ◽

Author(s):

Sung Koh ◽

Wankyun Chung

Keyword(s):

Rigid Body ◽

Motion Planning ◽

Degrees Of Freedom ◽

Practical Importance ◽

Underwater Vehicles ◽

Coordinate Frame ◽

Underactuated System ◽

Torque Generation ◽

Generation Mechanisms ◽

Jacobian Algorithm

A Jacobian-based algorithm for motion planning for an underactuated system that is a rigid-body operated by two input-rotations is discussed in this paper. The rigid body undergoes a four-rotation fully-reversed (FR) sequence of rotations which consists of a series of initial two rotations about the axes of a coordinate frame attached to the rigid body and subsequent two rotations that undo the proceeding rotations. Due to the insufficient degrees of freedom of four-rotation FR sequences required to achieve all possible orientations, the rigid body cannot achieve some orientations. In order to best approximate these infeasible orientations, the Jacobian-based algorithm is implemented in the sense of least squares. As some orientations can never be attained by a single four-rotation FR sequence, two different four-rotation FR sequences are exploited alternately to ensure the convergence of the proposed algorithm. Assuming the orientation is supposed to be manipulated using three input-rotations, the switching-Jacobian algorithm proposed in this paper has significant practical importance for motion planning for aerospace and underwater vehicles maneuvered using only two input-rotations due to the failure of one of torque-generation mechanisms.

Download Full-text