Geometric path planning without maneuvers for nonholonomic parallel orienting robots
Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind of parallel robots to few applications. Based on a rather old result on linea...
| Autores: | , |
|---|---|
| Tipo de recurso: | artículo |
| Fecha de publicación: | 2016 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/103077 |
| Acceso en línea: | https://hdl.handle.net/2117/103077 https://dx.doi.org/10.1109/LRA.2016.2529688 |
| Access Level: | acceso abierto |
| Palabra clave: | Robots -- Kinematics Radio frequency Nonholonomic motion planning Motion and path planning Parallel robots Nonholonomic mechanisms and systems Robots -- Cinemàtica Radiofreqüència Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind of parallel robots to few applications. Based on a rather old result on linear time-varying systems, this letter shows that there are infinitely differentiable paths connecting two arbitrary points in SO(3) such that the instantaneous axis of rotation along the path rest on a fixed plane. This theoretical result leads to a practical path planner for nonholonomic parallel orienting robots that generates single-move maneuvers. To present this result, we start with a path planner based on three-move maneuvers, and then we proceed by progressively reducing the number of moves to one, thus providing a unified treatment with respect to previous geometric path planners. |
|---|