Abstract
This paper studies a generalization to 3D space of the planar system composed of a tractor pulling a number of trailers, called the multi-bar system. Assuming a natural coordinate description of the system, its kinematics equations are derived in the form of a driftless control system with three controls. The motion planning problem is stated, and solved by means of a Jacobian algorithm resulting from the endogenous configuration space approach. Solutions of example motion planning problems are obtained by numeric computations.
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This research was supported by the Wrocław University of Technology under a statutory grant.
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Jakubiak, J., Ratajczak, A. Kinematics and Motion Planning of the Multi-Bar System. J Intell Robot Syst 75, 5–15 (2014). https://doi.org/10.1007/s10846-013-9867-x
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DOI: https://doi.org/10.1007/s10846-013-9867-x