- Tytuł:
- On dynamically consistent Jacobian inverse for non-holonomic robotic systems
- Autorzy:
-
Ratajczak, J.
Tchoń, K. - Powiązania:
- https://bibliotekanauki.pl/articles/229326.pdf
- Data publikacji:
- 2017
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
non-holonomic system
motion
Jacobian inverse
dynamic consistency
metric
motion planning - Opis:
- This paper presents the dynamically consistent Jacobian inverse for non-holonomic robotic system, and its application to solving the motion planning problem. The system’s kinematics are represented by a driftless control system, and defined in terms of its input-output map in accordance with the endogenous configuration space approach. The dynamically consistent Jacobian inverse (DCJI) has been introduced by means of a Riemannian metric in the endogenous configuration space, exploiting the reduced inertia matrix of the system’s dynamics. The consistency condition is formulated as the commutativity property of a diagram of maps. Singular configurations of DCJI are studied, and shown to coincide with the kinematic singularities. A parametric form of DCJI is derived, and used for solving example motion planning problems for the trident snake mobile robot. Some advantages in performance of DCJI in comparison to the Jacobian pseudoinverse are discovered.
- Źródło:
-
Archives of Control Sciences; 2017, 27, 4; 555-573
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł