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.


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.


manipulator, passive joint, dynamics, nonholonomic constraint