Angular Frequency Switching of Holonomy-Based Motion Planning for the Second-Order Chained Form System

This paper addresses a motion planning problem of the second-order chained form system. One of the authors previously proposed a holonomy-based motion planning method using sinusoidal functions as control inputs. In the conventional method, the basis is to extract holonomy whose magnitude depends to...

Full description

Saved in:
Bibliographic Details
Published in2024 13th International Workshop on Robot Motion and Control (RoMoCo) pp. 20 - 24
Main Authors Ito, Masahide, Yamaguchi, Sora, Nakayama, Mayu, Ishikawa, Masato
Format Conference Proceeding
LanguageEnglish
Published IEEE 02.07.2024
Subjects
Conferences
Manipulators
Planning
Robot motion
Simulation
Switches
Time-frequency analysis
Online AccessGet full text

Cover

More Information
Summary:This paper addresses a motion planning problem of the second-order chained form system. One of the authors previously proposed a holonomy-based motion planning method using sinusoidal functions as control inputs. In the conventional method, the basis is to extract holonomy whose magnitude depends to amplitude-related parameters of control inputs. It is, however, unclear whether or not such a holonomy-based motion planning can be adjustable with respect to time. This paper reveals the relation between holonomy and the angular frequency of control inputs, which extends the conventional method. The effectiveness of the extended method is numerically demonstrated through an application to an underactuated manipulator.
ISSN:2575-5579
DOI:10.1109/RoMoCo60539.2024.10604389