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Nonholonomic Motion Planning for Coupled Planar Rigid Bodies with Passive Revolute Joints

机译:具有被动旋转接头的平面刚性刚体的非完整运动规划

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摘要

Motion planning for coupled rigid bodies in a horizontal plane is investigated. The rigid bodies are serially connected by passive revolute joints. The dynamic constraints on the system are second- order nonholonomic constraints. We attempted to control those n coupled rigid bodies by the translational acceleration inputs at the first joint. If each rigid body is hinged at the center of percussion, it is possible to compose a positioning trajectory by connecting rotational and trans- lational trajectories. Each rigid body can be rotated about its center of percussion by turns. When all rigid bodies are aligned on a straight line, they can be translated. The algorithm for positioning is presented. Simulation shows that the coupled planar rigid bodies can reach the desired configuration by the constructed inputs.
机译:研究了在水平面上耦合刚体的运动计划。刚体通过被动旋转接头串行连接。系统上的动态约束是二阶非完整约束。我们试图通过第一关节的平移加速度输入来控制这n个耦合刚体。如果将每个刚体铰接在打击乐器的中心,则可以通过连接旋转轨迹和平移轨迹来构成定位轨迹。每个刚体可以绕其打击中心旋转一圈。当所有刚体在一条直线上对齐时,它们可以平移。提出了定位算法。仿真表明,通过构造的输入,耦合的平面刚体可以达到所需的配置。

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