Title :
A catalog of inverse-kinematics planners for underactuated systems on matrix Lie groups
Author :
Martínez, Sonia ; Cortés, Jorge ; Bullo, Francesco
Author_Institution :
Departamento de Matematica Aplicada IV, Univ. Politecnica de Catalunya, Spain
Abstract :
This paper presents motion planning algorithms for underactuated systems evolving on rigid rotation and displacement groups. Motion planning is transcribed into (low-dimensional) combinatorial selection and inverse-kinematics problems. We present a catalog of solutions for all underactuated systems on SE(2), SO(3) and SE(2) × R classified according to their controllability properties.
Keywords :
Lie groups; inverse problems; kinematics; matrix algebra; mechanical variables control; path planning; controllability properties; inverse-kinematics planners catalog; matrix Lie groups; motion planning algorithms; underactuated systems; Closed-form solution; Control system synthesis; Control systems; Controllability; Iterative algorithms; Kinematics; Mechanical systems; Motion control; Motion planning; Transmission line matrix methods;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1250699
