Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind of parallel robots to few applications. Based on a rather old result on linear time-varying systems, this letter shows that there are infinitely differentiable paths connecting two arbitrary points in SO such that the instantaneous axis of rotation along the path rest on a fixed plane. This theoretical result leads to a practical path planner for nonholonomic parallel orienting robots that generates single-move maneuvers. To present this result, we start with a path planner based on three-move maneuvers, and then we proceed by progressively reducing the number of moves to one, thus providing a unified treatment with respect to previous geometric path planners. ; This work was supported by the Spanish Ministry of Economy and Competitiveness through project DPI2014-57220-C2-2-P. ; Peer Reviewed
Geometric path planning without maneuvers for nonholonomic parallel orienting robots
2016-01-01
Article (Journal)
Electronic Resource
English
DDC: | 629 |
Geometric path planning without maneuvers for nonholonomic parallel orienting robots
BASE | 2016
|Nonholonomic path planning of space robots
Tema Archive | 1989
|Nonholonomic path planning of space robots via bi-directional approach
Tema Archive | 1990
|Motion Control for Autonomous Maneuvers of a Nonholonomic Vehicle
British Library Conference Proceedings | 1998
|Motion control for autonomous maneuvers of a nonholonomic vehicle
Tema Archive | 1998
|