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　ロボティクス・メカトロニクス講演会'98, 仙台市民会館, 1998.

［和文要旨］

水平面内で非駆動回転関節により直列に連結された複数の剛体の運動計画手法を提案する．第１関節への並進加速度入力により全剛体の位置・姿勢を制御する．各剛体が撃心で連結されている場合，各撃心を中心とした回転軌道と，剛体が直線上に並んだ状態での並進軌道とを組み合わせて位置制御の軌道を計画することが可能である．位置決めのアルゴリズムを提案し，シミュレーションにより目標位置へ到達可能なことを示す．

Nonholonomic Motion Planning for Coupled Planar Rigid Bodies

Naoji Shiroma, Hirohiko Arai and Kazuo Tanie

1998 JSME Conference on Robotics and Mechatronics (ROBOMEC'98), Sendai, 1998.

[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 about 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 inputs.

[Keywords]

coupled rigid bodies, passive joint, nonholonomic motion planning