Optimum trajectory planning method for a system that includes passive joints: (Proposal of a function approximation method)

JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing

Volumn 42, Issue 2, 1999, Pages 309-315

  Imadu, Atushi ^a   Ono, Kyosuke ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Bio motion; Function approximation method; Motion control; Non holonomic constraint; Optimal control; Trajectory planning method

Indexed keywords

APPROXIMATION THEORY; CONSTRAINT THEORY; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; CONVERGENCE OF NUMERICAL METHODS; FOURIER TRANSFORMS; FUNCTIONS; ITERATIVE METHODS; MOTION CONTROL; NONLINEAR PROGRAMMING; OPTIMAL CONTROL SYSTEMS;

FUNCTION APPROXIMATION METHOD; HERMITE FUNCTIONS; NON-HOLONOMIC CONSTRAINT; TRAJECTORY PLANNING METHOD;

MOTION PLANNING;

EID: 0032634788     PISSN: 13447653     EISSN: None     Source Type: Journal    
DOI: 10.1299/jsmec.42.309     Document Type: Article

References (8)

1. Nakamura, Y., Non-holonomic Robot Systems, J. of the Robotics Society of Japan, (in Japanese), Vol. 12, No. 2 (1994), p. 231-239.
2. Senda, K., Ozaki, M. and Murotsu, Y., A Method of Attitude Control for Space Robots, Proc. of 1990 Dynamics and Design Conference, (in Japanese), Vol. 900, No. 44, B (1990), p. 327-330.
3. Fernandas, C., Gurvits, L. and Li, Z., Near-Optimal Nonholonomic Motion Planning for a System of Coupled Rigid Bodies, IEEE Transaction on Automatic Control, Vol. 39, No. 3 (1994), p. 450-463.
4. Yoshida, K., Hirata, M. and Nagato, H., Dynamics and Motion Control of Somersault in Free-Style Skiing, Trans. Jpn. Soc. Mech. Eng., (in Japanese), Vol. 57, No. 543, C (1991), p. 3558-3563.
5. Arai, H., Tanie, K. and Shiroma, N., Feedback Control of a 3-Axis Planar Manipulator with a Passive Joint under a Nonholonomic Constraint, J. of the Robotics Society of Japan, (in Japanese), Vol. 15, No. 6 (1997), p. 133-142.
6. Spong, M.W., The Swing up Control Problem for the Acrobot, IEEE Control Systems Magazine, Vol. 15 (1995), p. 49-55.
7. Ono, K., Imadu, A. and Sakai, T., Optimal Motion Trajectory of Giant Swing, Trans. Jpn. Soc. Mech. Eng., Vol. 62, No. 599, C (1996), p. 2640-2647.
8. Singh, R.P. and Linkins, P.W., Constraint Elimination in Dynamical Systems, NASA technical report, N89-24667.