含有被动关节的平面双刚体非完整运动规划

Nonholonomic motion planning for two planar rigid bodies with passive joint

研究含有被动关节的平面双刚体的运动规划问题。该系统的动力学约束是二阶非完整的,通过给定其中一个刚体的加速度输入,并假设被动关节安装在刚体撞击中心处,系统可以产生两种不同形式的绕撞击中心的转动。从而建立一种开环运动规划方法,实现系统从一种初始状态到另一种目标状态的运动规划。仿真试验验证了该方法的有效性与可行性。

Motion planning for two planar rigid bodies with passive joint is investigated. The dynamic constraints on the system are second-order nonholonomic constraints. It is assumed that the rigid bodies are at the center of percussion. By the translational acceleration inputs at one of the rigid bodies, the system has two different kinds of rotation around the center of percussion. By proposing an open - loop motion planning method, the motion of system from an initial state to a desired one can be planned. Simulation shows that the motion planning is effective and feasible.