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Geometric path planning without maneuvers for nonholonomic parallel orienting robots

AuthorsGrosch, Patrick ; Thomas, Federico
KeywordsMotion and path planning
Nonholonomic motion planning
Nonholonomic mechanisms and systems
Parallel robots
Issue Date2016
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE Robotics and Automation Letters 1(2): 1066-1072 (2016)
AbstractCurrent 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.
Publisher version (URL)https://doi.org/10.1109/LRA.2016.2529688
Identifiersdoi: 10.1109/LRA.2016.2529688
issn: 2377-3766
Appears in Collections:(IRII) Artículos
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