移动机械臂的非完整运动规划

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI:10.1109/ROBOT.2000.844767

H. Tanner, K. Kyriakopoulos

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引用次数: 122

摘要

针对移动机械臂在杂乱环境下的运动，提出了一种非完整运动规划方法。该方法基于特殊势场作用下的不连续反馈律。通过Lyapunov的直接方法证明了收敛性。利用冗余，该方法允许系统执行次要的、配置相关的目标，如避免奇点。介绍了一种非完整系统实时导航的有效反馈方案。

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Nonholonomic motion planning for mobile manipulators

A nonholonomic motion planner for mobile manipulators moving in cluttered environments is presented. The approach is based on a discontinuous feedback law under the influence of a special potential field. Convergence is shown via Lyapunov's direct method. Utilizing redundancy, the methodology allows the system to perform secondary, configuration dependent, objectives such as singularity avoidance. It introduces an efficient feedback scheme for real time navigation of nonholonomic systems.

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Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

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