Smooth trajectory planning for XYnR~ planar underactuated robots
Smooth trajectory planning for XYnR~ planar underactuated robots
复制标题
XYnR~平面欠驱动机器人的平滑轨迹规划
DOI：
10.1109/irds.2002.1043992
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
S. Iannitti
中科院分区：
文献类型：
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作者：
Alessandro De Luca;S. Iannitti
我们考虑 XYnR~ 平面欠驱动机器人类的轨迹规划问题，其中前两个（旋转或棱柱）关节被驱动，最后 n 个旋转关节为被动。假设每个被动连杆都连接在前一个被动连杆的冲击中心，动态模型采用简化形式，我们展示了如何递归设计完全线性化系统方程的动态反馈。该结果允许使用多项式插值来规划平滑的静止到静止运动。作为一个例子，我们报告了 RR2R~ 机器人轨迹规划所获得的数值结果。
We consider the trajectory planning problem for the class of XYnR~ planar underactuated robots, having the first two (rotational or prismatic) joints actuated and the last n rotational joints passive. Under the assumption that each passive link is attached at the center of percussion of the previous passive link, the dynamic model assumes a simplified form and we show how to recursively design a dynamic feedback that completely linearizes the system equations. This result allows to plan smooth rest-to-rest motions using polynomial interpolation. As an example, we report the numerical results obtained for trajectory planning of an RR2R~ robot.