Path Planning of a Spin-Rolling Sphere on a Plane
Path Planning of a Spin-Rolling Sphere on a Plane
复制标题
平面上旋转球体的路径规划
DOI：
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复制
发表时间：
2021
期刊：
影响因子：
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通讯作者：
Y. Hirata
中科院分区：
文献类型：
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作者：
Seyed Amir Tafrishi;M. Svinin;Motoji Yamamoto;Y. Hirata
本文讨论了自旋转球体在平面上沿直线运动时的运动规划问题。由于球体的运动受到直线的约束，因此球体的自旋运动的控制对于收敛到球体的期望配置是必不可少的。在本文中，我们展示了一种新的基于几何的规划方法，该方法是基于这个非线性系统的全状态描述。首先，提出了运动规划的问题陈述。接下来，我们开发了一个几何控制器实现为一个虚拟的表面，通过使用达布框架运动学。该虚拟表面生成用于控制球体轨迹的基于弧长的输入。然后，迭代算法的设计，以调整这些输入所需的配置。仿真结果验证了该方法的可行性。
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere’s spin motion is essential to converge to a desired configuration of the sphere. In this paper, we show a new geometric-based planning approach that is based on a full-state description of this nonlinear system. First, the problem statement of the motion planning is posed. Next, we develop a geometric controller implemented as a virtual surface by using the Darboux frame kinematics. This virtual surface generates arc-length-based inputs for controlling the trajectories of the sphere. Then, an iterative algorithm is designed to tune these inputs for the desired configurations. The feasibility of the proposed approach is verified by simulations.
滑动滚动接触和手动操作
DOI：
10.1142/q0249
发表时间：
2020
期刊：
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影响因子：
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作者：
Cui L
通讯作者：
Cui L