Semi-optimal motion control for nonholonomic systems with a passive joint

Chyon Hae Kim, Keisuke Nakamura, Hiroshi Tsujino, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper addresses optimal motion control for nonholonomic systems with a passive joint. We propose a motion-planning method that combines a rapid semi-optimal motion-planning method (RASMO) and an output-zeroing method. First, a semi-optimal motion is calculated using RASMO, following which the motion is converted to a flow in a phase space using the output-zeroing method. To validate the proposed method, we conducted a throwing experiment using a two-link arm. As a result of the experiment, planned semi-optimal motion was realized precisely in the nonholo-nomic system. Using this approach, we have enhanced the applicability of RASMO to nonholonomic systems with a passive joint.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1075-1080
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11/9/1311/9/18

Keywords

  • Nonholonomic system
  • Optimal Motion
  • RASMO
  • Robot
  • Throwing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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