Motion Planning for an Underactuated Planar Robot in a Viscous Environment-Reference-Cited by-同舟云学术

Motion Planning for an Underactuated Planar Robot in a Viscous Environment

Published:2015-09-01 Issue:5 Volume:10 Page:
ISSN:1555-1415
Container-title:Journal of Computational and Nonlinear Dynamics
language:en
Short-container-title:

Author:

Shammas Elie¹,Asmar Daniel¹

Affiliation:

1. Assistant Professor Department of Mechanical Engineering, American University of Beirut, Beirut 11-0236, Lebanon e-mail:

Abstract

In this paper, we solve the motion planning problem for a class of underactuated multibodied planar mechanical systems. These systems interact with the environment via viscous frictional forces. The motion planning problem is solved by specifying the location of friction pads on the robot as well as by specifying the input of the actuated degrees of freedom. Moreover, through the proposed novel motion planning analysis, we identify the simplest planar swimming robot, the two-link swimmer.

Publisher

ASME International

Subject

Applied Mathematics,Mechanical Engineering,Control and Systems Engineering,Applied Mathematics,Mechanical Engineering,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/computationalnonlinear/article-pdf/doi/10.1115/1.4029509/6106432/cnd_010_05_051002.pdf

Reference37 articles.

1. Laumond, J.-P., 1987, “Finding Collision-Free Smooth Trajectories for a Non-Holonomic Mobile Robot,” 10th International Joint Conference on Artificial (IJCAI), pp. 1120–1123.

2. A Motion Planner for Nonholonomic Mobile Robots;IEEE Trans. Rob. Autom.,1994

3. Motion of Two Rigid Bodies With Rolling Constraint;IEEE Trans. Rob. Autom.,1990

4. Laumond, J.-P., 1986, “Feasible Trajectories for Mobile Robots With Kinematic and Environment Constraints,” Intelligent Autonomous Systems, International Conference, North-Holland Publishing Co., Amsterdam, The Netherlands, pp. 346–354.

5. Nonholonomic Motion Planning: Steering Using Sinusoids;IEEE Trans. Autom. Control,1993

Cited by 5 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Motion planning and control of planar serial chain articulating locomotion system;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2024-03-03

2. A Generalised Quaternion and Clifford Algebra Based Mathematical Methodology to Effect Multi-stage Reassembling Transformations in Parallel Robots;Advances in Applied Clifford Algebras;2021-05-18

3. Guided Motion Planning for Snake-like Robots Based on Geometry Mechanics and HJB Equation;IEEE Transactions on Industrial Electronics;2019-09

4. Motion planning for a planar mechanical system with dissipative forces;Robotics and Autonomous Systems;2018-09

5. Motion analysis of two-link nonholonomic swimmers;Nonlinear Dynamics;2017-06-28