- Tytuł:
- Motion planning of the trident snake robot equipped with passive or active wheels
- Autorzy:
-
Paszuk, D.
Tchoń, K.
Pietrowska, Z. - Powiązania:
- https://bibliotekanauki.pl/articles/201597.pdf
- Data publikacji:
- 2012
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
trident snake
motion planning
singularities
endogenous configuration space approach - Opis:
- We study the kinematics of the trident snake robot equipped with either active joints and passive wheels or passive joints and active wheels. A control system representation of the kinematics is derived, and control singularities examined. Two motion planning problems are addressed, corresponding to diverse ways of controlling the robot, and solved by means of the endogenous configuration space approach. The constraints imposed by the presence of control singularities are handled using the imbalanced Jacobian algorithm assisted by an auxiliary feedback. Performance of the motion planning algorithms is demonstrated by computer simulations.
- Źródło:
-
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 547-555
0239-7528 - Pojawia się w:
- Bulletin of the Polish Academy of Sciences. Technical Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł