Geometric path planning without maneuvers for nonholonomic parallel orienting robots
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
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.
CitationGrosch, P., Thomas, F. Geometric path planning without maneuvers for nonholonomic parallel orienting robots. "IEEE robotics and automation letters", Juliol 2016, vol. 1, núm. 2, p. 1066-1072.