DocumentCode
1818381
Title
Jacobian motion planning of nonholonomic robots: The Lagrangian Jacobian algorithm
Author
Tchon, Krzysztof ; Goral, Ida ; Ratajczak, Adam
Author_Institution
Cybern. & Robot., Electron. Fac., Wroclaw Univ. of Technol., Wrocław, Poland
fYear
2015
fDate
6-8 July 2015
Firstpage
229
Lastpage
234
Abstract
For nonholonomic robots whose kinematics are described by a driftless control system with outputs a new Jacobian inverse and a Jacobian motion planning algorithm are proposed. This inverse is based on solving a Lagrange-type constrained optimization problem, generalizing the usual Jacobian pseudoinverse. A case study illustrates a potential applicability of the new algorithm to shaping the system´s motion.
Keywords
Jacobian matrices; optimisation; path planning; robot kinematics; Jacobian inverse; Jacobian motion planning algorithm; Jacobian pseudoinverse; Lagrange-type constrained optimization problem; Lagrangian Jacobian algorithm; driftless control system; kinematics; nonholonomic robots; Jacobian matrices; Kinematics; Linear programming; Planning; Robots; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control (RoMoCo), 2015 10th International Workshop on
Conference_Location
Poznan
Type
conf
DOI
10.1109/RoMoCo.2015.7219740
Filename
7219740
Link To Document