非駆動関節を有する水平３軸マニピュレータの障害物回避運動計画
城間 直司, ケビン・リンチ, 荒井 裕彦, 谷江 和雄
日本機械学会論文集Ｃ編，Vol.66，No.642，pp.545-552, 2000.
［和文要旨］
非駆動関節を有する水平３軸マニピュレータの位置決めにおける運動計画について論ずる．制御理論上，このロボットは任意の経路に沿って運動できるが，高速の運動が可能な特定の経路を接続して障害物回避を実現する．この方法では探索空間の次元が低くなるために計算が簡単である．また，経路上の運動の時間軸を伸縮してマニピュレータ動特性を考慮したより高速の運動が計画できる．
Motion Planning for a Three-Axis Planar Manipulator with a Passive Revolute Joint
Naoji Shiroma, Kevin M. Lynch, Hirohiko Arai and Kazuo Tanie
Transactions of the Japan Society of Mechanical Engineers (C)，Vol.66，No.642，pp.545-552, 2000.
[Abstract]
This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint. Such a robot is small-time locally controllable on an open subset of its zero velocity section, allowing it to follow any path in this subset arbitrarily closely. However, some paths are ``preferred'' by the dynamics of the manipulator in that they can be followed at higher speeds. We describe an algorithm that plans collision-free paths in the robot's configuration space, where the motions correspond to dynamically preferred robot motions. Thus the problem of planning fast trajectories in the robot's six-dimensional state space is reduced to the computationally simpler problems of planning paths in the three-dimensional configuration space and time-scaling the paths according to the manipulator dynamics.
[Keywords]
Nonholonomic Constraint, Underactuated Manipulator, Passive Joint, Motion Planning, Time-scaling