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Planning Motions for Robotic Systems Subject to Differential Constraints

  • Alessandro De Luca
  • Giuseppe Oriolo
  • Marilena Vendittelli
  • Stefano Iannitti
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 10)

Abstract

We consider the problem of planning point-to-point motion for general robotic systems subject to non-integrable differential constraints. The constraints may be of first order (on velocities) or of second order (on accelerations). Various nonlinear control techniques, including nilpotent approximations, iterative steering, and dynamic feedback linearization, are illustrated with the aid of four case studies: the plate-ball manipulation system, the general two-trailer mobile robot, a two-link robot with flexible forearm, and a planar robot with two passive joints. The first two case studies are non-flat nonholonomic kinematic systems, while the last two are flat underactuated dynamic systems.

Keywords

Acceleration Input Auxiliary Input Passive Joint Differential Constraint Kinematic System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Authors and Affiliations

  • Alessandro De Luca
    • 1
  • Giuseppe Oriolo
    • 1
  • Marilena Vendittelli
    • 1
  • Stefano Iannitti
    • 1
  1. 1.Dipartimento di Informatica e Sistemistica, Università di Roma “La Sapienza”, Via Eudossiana 18, 00184 RomaItaly

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