A Nonholonomic Motion Planning and Control Based on Chained Form Transformation

Author

Tan, Yuegang ; Jiang, Ziqing ; Zhou, Zude

Author_Institution

Sch. of Mech. & Electron. Eng., Wuhan Univ. of Technol.

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

3149

Lastpage

3153

Abstract

The chained form system is a controllable nonholonomic system, wherein the motion planning and control had been often researched. Therefore, based on the chained form transformation, the motion planning and control of nonholonomic system can be researched by the motion planning and control of chained form system. According to this thought, motion planning and control of nonholonomic multi-joint manipulator were researched in this paper. A method of nonholonomic motion planning and control was proposed by the chained form transformation, and validity of the method was proved by computer simulation

Keywords

manipulators; motion control; nonlinear control systems; path planning; chained form transformation; motion control; nonholonomic motion planning; nonholonomic multi-joint manipulator; nonholonomic system control; Bibliographies; Control systems; Intelligent robots; Motion control; Motion planning; Nonlinear control systems; Nonlinear equations; Robot control; Technology planning; Trajectory; Chained form Transformation; Nonholonomic Motion Planning; Nonholonomic Robot; Nonlinear Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282337

Filename

4058880