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

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

*この研究の対応する著者

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
出版社Society of Instrument and Control Engineers (SICE)
ページ1075-1080
ページ数6
ISBN(印刷版)9784907764395
出版ステータスPublished - 2011 1 1
イベント50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
継続期間: 2011 9 132011 9 18

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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