Motion planning of the trident snake robot equipped with passive or active wheels

• Autorzy: Paszuk D. , Tchoń K. , Pietrowska Z.
• Języki publikacji: EN

Abstrakty

EN

We study the kinematics of the trident snake robot equipped with either active joints and passive wheels or passive joints and active wheels. A control system representation of the kinematics is derived, and control singularities examined. Two motion planning problems are addressed, corresponding to diverse ways of controlling the robot, and solved by means of the endogenous configuration space approach. The constraints imposed by the presence of control singularities are handled using the imbalanced Jacobian algorithm assisted by an auxiliary feedback. Performance of the motion planning algorithms is demonstrated by computer simulations.

Słowa kluczowe

EN

trident snake; motion planning; singularities; endogenous configuration space approach

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2012
• Tom: Vol. 60, nr 3
• Strony: 547--555
• Opis fizyczny: Bibliogr. 13 poz., rys., tab.

Twórcy

autor

Paszuk D.

autor

Tchoń K.

autor

Pietrowska Z.

• Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, 11/17 Janiszewskiego St., 50-372 Wrocław, Poland

Bibliografia

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• [3] Sz. Gospodarek, “Design and modelling of the trident snake type mobile robot”, Master’s Thesis, Wrocław University of Technology, Wrocław, 2011, (in Polish).
• [4] M. Ishikawa, Y. Minati, and T. Sugie, “Development and control experiment of the trident snake robot”, IEEE/ASMETrans. on Mechatronics 15, 9-16 (2010).
• [5] M. Ishikawa, P. Morin, and C. Samson, “Tracking control of the trident snake robot with the transverse function approach”, Proc. 48th IEEE CDC 1, 4137-4143 (2009).
• [6] I. Duleba, “Impact of control representations on efficiency of local nonholonomic motion planning”, Bull. Pol. Ac.: Tech. 59 (2), 213-218 (2011).
• [7] M. Ishikawa and T. Fujino, “Control of the double-linked trident snake robot based on the analysis of its oscillatory dynamics”, Proc. 2009 IEEE/RSJ Int. Conf. IROS 1, 1314- 1319 (2009).
• [8] J. Jakubiak, K. Tchoń, and M. Janiak, “Motion planning of the trident snake robot: An endogenous configuration space approach”, in Robot Design, Dynamics, and Control, pp. 159- 166, Springer, Wien, 2010.
• [9] D. Paszuk, “Motion planning and control algorithms of the trident snake system”, Master’s Thesis, Wrocław University of Technology, Wrocław, 2011, (in Polish).
• [10] K. Tchoń and J. Jakubiak, “Endogenous configuration space approach to mobile manipulators: a derivation and performance assessment of Jacobian inverse kinematics algorithms”, Int. J. Control 26, 1387-1419 (2003).
• [11] M. Janiak and K. Tchoń, “Constrained motion planning of nonholomic systems”, Syst. Contr. Lett. 60 (8), 625-631 (2011).
• [12] M. Janiak, “Jacobian inverse kinematics algorithms for mobile manipulators with constraints on state, control, and performance”, Ph.D. Thesis, Wrocław University of Technology, Wrocław, 2009, (in Polish).
• [13] K. Tchoń and J. Jakubiak, “Fourier vs. non-Fourier bandlimited Jacobian inverse kinematics for mobile manipulators”, Proc. 2004 MMAR Conf. 2, 1005-1010 (2004).