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Latest Advances in Robot Kinematics pp 59–66Cite as

Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm

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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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Acknowledgements

This research was supported by a statutory grant from Wrocław University of Technology.

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Authors and Affiliations

  1. Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, Wrocław, Poland

    Janusz Jakubiak, Krzysztof Tchoń & Mariusz Janiak

Authors
  1. Janusz Jakubiak
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  2. Krzysztof Tchoń
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  3. Mariusz Janiak
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Corresponding author

Correspondence to Janusz Jakubiak .

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Editors and Affiliations

  1. J. Stefan Institute, Jamova 39, Ljubljana-Vic-Rudnik, 1000, Slovenia

    Jadran Lenarcic

  2. Inst. Technische Mathematik, Geometrie und Bauinformatik, Universität Innsbruck, Technikerstr. 13, Innsbruck, 6020, Austria

    Manfred Husty

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© 2012 Springer Science+Business Media Dordrecht

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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

  • eBook Packages: EngineeringEngineering (R0)

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