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A bilinear formulation for the motion planning of non-holonomic parallel orienting platforms

AuthorsGrosch, Patrick ; Thomas, Federico
Issue Date2013
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE/RSJ International Conference on Intelligent Robots and Systems: 953-958 (2013)
AbstractThis paper deals with the motion planning problem for parallel orienting platforms with one non-holonomic joint and two prismatic actuators which can maneuver to reach any three-degree-of-freedom pose of the moving platform. Since any system with two inputs and up to four generalized coordinates can always be transformed into chained form, this path planning problem can be solved using well-established procedures. Nevertheless, the use of these procedures requires a good understanding of Lie algebraic methods whose technicalities have proven a challenge to many practitioners who are not familiar with them. As an alternative, we show how by (a) properly locating the actuators, and (b) representing the platform orientation using Euler parameters, the studied path planning problem admits a closed-form solution whose derivation requires no other tools than ordinary linear algebra.
DescriptionTrabajo presentado al IROS celebrado en Tokyo del 3 al 7 de noviembre de 2013.
Publisher version (URL)http://dx.doi.org/10.1109/IROS.2013.6696465
Identifiersdoi: 10.1109/IROS.2013.6696465
issn: 2153-0858
e-issn: 2153-0866
Appears in Collections:(IRII) Artículos
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