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...

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Detalles Bibliográficos
Autores: Grosch, Patrick, Thomas, Federico
Tipo de recurso: artículo
Estado:Versión enviada para evaluación y publicación
Fecha de publicación:2016
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/166315
Acceso en línea:http://hdl.handle.net/10261/166315
Access Level:acceso abierto
Palabra clave:Motion and path planning
Nonholonomic motion planning
Nonholonomic mechanisms and systems
Parallel robots
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spelling Geometric path planning without maneuvers for nonholonomic parallel orienting robotsGrosch, PatrickThomas, FedericoMotion and path planningNonholonomic motion planningNonholonomic mechanisms and systemsParallel robotsCurrent 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 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.This work was supported by the Spanish Ministry of Economy and Competitiveness through project DPI2014-57220-C2-2-P.Peer ReviewedInstitute of Electrical and Electronics EngineersMinisterio de Economía y Competitividad (España)Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]2018201820162018info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Preprintinfo:eu-repo/semantics/submittedVersionhttp://hdl.handle.net/10261/166315reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE#info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2014-57220-C2-2-Phttps://doi.org/10.1109/LRA.2016.2529688Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/1663152026-05-22T06:33:51Z
dc.title.none.fl_str_mv Geometric path planning without maneuvers for nonholonomic parallel orienting robots
title Geometric path planning without maneuvers for nonholonomic parallel orienting robots
spellingShingle Geometric path planning without maneuvers for nonholonomic parallel orienting robots
Grosch, Patrick
Motion and path planning
Nonholonomic motion planning
Nonholonomic mechanisms and systems
Parallel robots
title_short Geometric path planning without maneuvers for nonholonomic parallel orienting robots
title_full Geometric path planning without maneuvers for nonholonomic parallel orienting robots
title_fullStr Geometric path planning without maneuvers for nonholonomic parallel orienting robots
title_full_unstemmed Geometric path planning without maneuvers for nonholonomic parallel orienting robots
title_sort Geometric path planning without maneuvers for nonholonomic parallel orienting robots
dc.creator.none.fl_str_mv Grosch, Patrick
Thomas, Federico
author Grosch, Patrick
author_facet Grosch, Patrick
Thomas, Federico
author_role author
author2 Thomas, Federico
author2_role author
dc.contributor.none.fl_str_mv Ministerio de Economía y Competitividad (España)
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Motion and path planning
Nonholonomic motion planning
Nonholonomic mechanisms and systems
Parallel robots
topic Motion and path planning
Nonholonomic motion planning
Nonholonomic mechanisms and systems
Parallel robots
description 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 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.
publishDate 2016
dc.date.none.fl_str_mv 2016
2018
2018
2018
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Preprint
info:eu-repo/semantics/submittedVersion
format article
status_str submittedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/166315
url http://hdl.handle.net/10261/166315
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2014-57220-C2-2-P
https://doi.org/10.1109/LRA.2016.2529688
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.811543

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