Nonholonomic Motion Planning Strategy for Underactuated Manipulator

Chained-Form Design and Motion Planning for a Nonholonomic Manipulator

This paper provides a method for a controllable nonholonomic mechanical system. By use of the nonholonomy of the disk’s rolling constraint in the plane and the condition of chained form conversion, a multi-joint nonholonomic manipulator, which uses only two actuators and can be converted into chained form and achieves control simplicity, is presented. The Frobenius and Chow theorems prove that ...

On point-to-point motion planning for underactuated space manipulator systems

In free-floating mode, space manipulator systems have their actuators turned off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactuated and a challenging problem is to control both the location of the end effector and the attitude of the base, using manipulator actuators only. Here a path planning methodology satisfying this requirement is developed...

Nonholonomic motion planning for car-like robots

We consider the robot motion planning problem in the presence of non-integrable kinematic constraints, known as non-holonomic constraints. Car-like non-holonomic mobile robots are used for solving this problem, and several implemented planners are discussed. We claim that the randomized methods are more capable of efficiently solving many challenging, high-dimensional problems. Results with ran...

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 discontinous feedback law under the infuence of a special potential eld. Convergence is shown via Lyapunov's direct method. Utilizing redundancy, the methodology allows the system to perform secondary, connguration dependent, objectives such as singularity avoidance. ...

Guidelines in Nonholonomic Motion Planning