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Título: | Geometric path planning without maneuvers for nonholonomic parallel orienting robots |
Autor: | Grosch, Patrick CSIC ORCID; Thomas, Federico CSIC ORCID | Palabras clave: | Motion and path planning Nonholonomic motion planning Nonholonomic mechanisms and systems Parallel robots |
Fecha de publicación: | 2016 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | IEEE Robotics and Automation Letters 1(2): 1066-1072 (2016) | Resumen: | 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. | Versión del editor: | https://doi.org/10.1109/LRA.2016.2529688 | URI: | http://hdl.handle.net/10261/166315 | DOI: | 10.1109/LRA.2016.2529688 | Identificadores: | doi: 10.1109/LRA.2016.2529688 issn: 2377-3766 |
Aparece en las colecciones: | (IRII) Artículos |
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Geometric-Robots.pdf | 1,11 MB | Adobe PDF | Visualizar/Abrir |
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