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Motion planning for task-based motions of mechanical systems based on computationally generated reference dynamics

Jarzębowska Elżbieta, Augustynek Krzysztof, Urbaś Andrzej

Journal of Theoretical and Applied Mechanics

2024

Vol. 62 nr 3

615--629

The paper presents a development of a complementary motion planning strategy for task- -based motions for mechanicl systems. The key component of the strategy is a computational procedure for generation of constrained dynamical models, where constraints can be mate- rial or task-based ones and specify work regime requirements. The procedure provides the constrained dynamics, i.e. reference dynamics, whose solutions satisfy all constraints upon systems and enable motion planning. It is a uniﬁed tool for constrained motion analysis, mo- tion planning and controller designs. The procedure eﬀectiveness is demonstrated through constrained dynamics generation and motion planning analysis for a robotic system.