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Título: | Path planning for active tensegrity structures |
Autor: | Porta, Josep M. CSIC ORCID ; Hernàndez, Sergi | Palabras clave: | Higher-dimensional continuation Path planning Differential geometry Tensegrity structures |
Fecha de publicación: | 2016 | Editor: | Elsevier | Citación: | International Journal of Solids and Structures 78-79: 47-56 (2016) | Resumen: | This paper presents a path planning method for actuated tensegrity structures with quasi-static motion. The valid configurations for such structures lay on an equilibrium manifold, which is implicitly defined by a set of kinematic and static constraints. The exploration of this manifold is difficult with standard methods due to the lack of a global parameterization. Thus, this paper proposes the use of techniques with roots in differential geometry to define an atlas, i.e., a set of coordinated local parameterizations of the equilibrium manifold. This atlas is exploited to define a rapidly-exploring random tree, which efficiently finds valid paths between configurations. However, these paths are typically long and jerky and, therefore, this paper also introduces a procedure to reduce their control effort. A variety of test cases are presented to empirically evaluate the proposed method. | Versión del editor: | http://dx.doi.org/10.1016/j.ijsolstr.2015.09.018 | URI: | http://hdl.handle.net/10261/132913 | DOI: | 10.1016/j.ijsolstr.2015.09.018 | Identificadores: | doi: 10.1016/j.ijsolstr.2015.09.018 issn: 0020-7683 |
Aparece en las colecciones: | (IRII) Artículos |
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Path-planning.pdf | 634,09 kB | Adobe PDF | Visualizar/Abrir |
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