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 publicationProceedings of the SICE Annual Conference
    Pages1075-1080
    Number of pages6
    Publication statusPublished - 2011
    Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo
    Duration: 2011 Sep 132011 Sep 18

    Other

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

    Fingerprint

    Motion control
    Motion planning
    Experiments

    Keywords

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

    ASJC Scopus subject areas

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

    Cite this

    Kim, C. H., Nakamura, K., Tsujino, H., & Sugano, S. (2011). Semi-optimal motion control for nonholonomic systems with a passive joint. In Proceedings of the SICE Annual Conference (pp. 1075-1080). [6060668]

    Semi-optimal motion control for nonholonomic systems with a passive joint. / Kim, Chyon Hae; Nakamura, Keisuke; Tsujino, Hiroshi; Sugano, Shigeki.

    Proceedings of the SICE Annual Conference. 2011. p. 1075-1080 6060668.

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

    Kim, CH, Nakamura, K, Tsujino, H & Sugano, S 2011, Semi-optimal motion control for nonholonomic systems with a passive joint. in Proceedings of the SICE Annual Conference., 6060668, pp. 1075-1080, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, 11/9/13.
    Kim CH, Nakamura K, Tsujino H, Sugano S. Semi-optimal motion control for nonholonomic systems with a passive joint. In Proceedings of the SICE Annual Conference. 2011. p. 1075-1080. 6060668
    Kim, Chyon Hae ; Nakamura, Keisuke ; Tsujino, Hiroshi ; Sugano, Shigeki. / Semi-optimal motion control for nonholonomic systems with a passive joint. Proceedings of the SICE Annual Conference. 2011. pp. 1075-1080
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