Path Planning of Nonholonomic Robots with Elastic Revolute Joints
Publish place: 9th Iranian Conference on Manufacturing Engineering
Publish Year: 1387
Type: Conference paper
Language: English
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Document National Code:
ICME09_176
Index date: 27 October 2009
Path Planning of Nonholonomic Robots with Elastic Revolute Joints abstract
This paper presents optimal control method to path planning of mobile robots with flexible joints. Dynamic equations are derived and additional kinematic constraints are used to solve the extra Dofs that of base mobility. Then with modeling the elasticity at each joint as a linear torsinal spring the set of equations are formed. The Hamiltonian function is formed and the necessary conditions for optimality are derived from the Pontryagin's minimum principle. The obtained equations established a two point boundary value problem solved by numerical techniques. A mobile flexible joint manipulator is studied to verify the feasibility of the proposed approach.
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Path Planning of Nonholonomic Robots with Elastic Revolute Joints authors
M.H. Korayem
Professor of Mechanical Engineering Department
H.N. Rahimi
Mechanical Engineering MSc Student
A. Nikoobin
Assistant professor of Mechanical Engineering Department of Mechanical Engineering, Semnan University, Semnan, Iran
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