Title:
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Geometric path planning without maneuvers for nonholonomic parallel orienting robots
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Author:
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Grosch Obregon, Patrick John; Thomas, Federico
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots |
Abstract:
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Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind of parallel robots to few applications. Based on a rather old result on linear time-varying systems, this letter shows that there are infinitely differentiable paths connecting two arbitrary points in SO(3) such that the instantaneous axis of rotation along the path rest on a fixed plane. This theoretical result leads to a practical path planner for nonholonomic parallel orienting robots that generates single-move maneuvers. To present this result, we start with a path planner based on three-move maneuvers, and then we proceed by progressively reducing the number of moves to one, thus providing a unified treatment with respect to previous geometric path planners. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robots -- Kinematics -Radio frequency -Nonholonomic motion planning -Motion and path planning -Parallel robots -Nonholonomic mechanisms and systems -Robots -- Cinemàtica -Radiofreqüència |
Rights:
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Document type:
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Article - Submitted version Article |
Published by:
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Institute of Electrical and Electronics Engineers (IEEE)
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