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