Abstract
We study the motion planning problem for the multi-bar system composed of a series of rigid bars connected by spherical joints, moving in ℝ3 and subject to non-holonomic constraints. The control system representation of the system takes the form of a driftless control system with 3 inputs. In order to avoid representation singularities, the constrained motion planning problem is addressed and solved using the imbalanced Jacobian algorithm. Performance of the algorithm is illustrated with the example of the 2-bar system.
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This research was supported by a statutory grant from Wrocław University of Technology.
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Jakubiak, J., Tchoń, K., Janiak, M. (2012). Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_8
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DOI: https://doi.org/10.1007/978-94-007-4620-6_8
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-4619-0
Online ISBN: 978-94-007-4620-6
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