Nonholonomic Motion Planning for Coupled Planar Rigid Bodies
N. Shiroma, H. Arai and K. Tanie
Proceedings of 3rd International Conference on Advanced Mechatronics (ICAM'98), pp.173-178, Okayama, Japan, August 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 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]
manipulator, passive joint, dynamics, nonholonomic constraint