Mostra el registre d'ítem simple
Geometric path planning without maneuvers for nonholonomic parallel orienting robots
dc.contributor.author | Grosch Obregon, Patrick John |
dc.contributor.author | Thomas, Federico |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2017-03-30T08:34:47Z |
dc.date.available | 2017-03-30T08:34:47Z |
dc.date.issued | 2016-07 |
dc.identifier.citation | Grosch, 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. |
dc.identifier.issn | 2377-3766 |
dc.identifier.uri | http://hdl.handle.net/2117/103077 |
dc.description.abstract | 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. |
dc.format.extent | 7 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots -- Kinematics |
dc.subject.lcsh | Radio frequency |
dc.subject.other | Nonholonomic motion planning |
dc.subject.other | Motion and path planning |
dc.subject.other | Parallel robots |
dc.subject.other | Nonholonomic mechanisms and systems |
dc.title | Geometric path planning without maneuvers for nonholonomic parallel orienting robots |
dc.type | Article |
dc.subject.lemac | Robots -- Cinemàtica |
dc.subject.lemac | Radiofreqüència |
dc.contributor.group | Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots |
dc.identifier.doi | 10.1109/LRA.2016.2529688 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://ieeexplore.ieee.org/document/7406692/ |
dc.rights.access | Open Access |
local.identifier.drac | 19830600 |
dc.description.version | Postprint (author's final draft) |
local.citation.author | Grosch, P.; Thomas, F. |
local.citation.publicationName | IEEE robotics and automation letters |
local.citation.volume | 1 |
local.citation.number | 2 |
local.citation.startingPage | 1066 |
local.citation.endingPage | 1072 |
Fitxers d'aquest items
Aquest ítem apareix a les col·leccions següents
-
Articles de revista [1.394]
-
Articles de revista [25]