Vibration of a planar linkage structure with flexible support subjected to kinematic task based constraints
In the paper we present a trajectory planning problem viewed as a programmed motion synthesis. In this formulation a task, e.g. a trajectory for a system, is formulated first by a programmed constraint and then a system dynamics, including the task-based constraint, is developed. The synthesis is understood then as planning programmed motions of a system by its constrained dynamics model. This constrained dynamics is referred to as reference dynamics. A library of reference dynamic models can be generated off-line and serve for verification of desired motions feasibility, ability of reaching required velocities and accelerations to obtain the desired trajectory, and estimate power needed for desired motions execution. This systematic method provides more than a typical trajectory planner does and one planner serves holonomic and nonholonomic models. Based upon the reference dynamics, the design of tracking controllers is available with minimum on-line and off-line computations.
KeywordsGPME algorithm programmed constraints kinematic constraints
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