複数の非駆動関節を有する連結平面剛体の非ホロノミック運動計画
城間 直司, 荒井 裕彦, 谷江 和雄
日本機械学会論文集Ｃ編，Vol.66，No.642，pp.553-560, 2000.
［和文要旨］
水平面内で複数の非駆動回転関節によって連結された直列リンク系を，一端の関節における並進加速度入力を用いて２点間で位置決めする軌道を計画する．各リンクが撃心において連結されている場合，各リンクを撃心の周りに先端リンクから順次回転させる軌道と，全リンクが一直線上に並んだ場合の並進軌道を組み合わせて位置決め軌道が計画できる．２リンクの場合のシミュレーションにより計画軌道の妥当性を検証する．
Nonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints
Naoji Shiroma, Hirohiko Arai and Kazuo Tanie
Transactions of the Japan Society of Mechanical Engineers (C)，Vol.66，No.642，pp.553-560, 2000.
[Abstract]
Motion planning for coupled rigid bodies in a horizontal plane is investigated. The rigid bodies are serially connected by passive revolute joints. The dynamic constraint on the system is a second-order nonholonomic constraint. We attempt to control those n-rigid bodies by the translational acceleration inputs at the first joint. If each rigid body is hinged at the center of percussion, it is possible to compose a positioning trajectory by connecting rotational and translational trajectories. Each rigid body can be rotated around its center of percussion by turns. When all rigid bodies are aligned on a straight line, they can be translated. The algorithm for positioning is presented. Simulation shows that the coupled planar rigid bodies can reach the desired configuration by the constructed input.
[Keywords]
Nonholonomic Constraint, Underactuated Manipulator, Passive Joint, Motion Planning