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Robotic Control and Nonholonomic Motion Planning |
Abstract |
This dissertation addresses the problem of … This dissertation addresses the problem of control and kinematic
planning for constrained robot systems. An example of a system of
this type is a multifingered robot hand grasping an object. The
individual fingers act as robot manipulators and are constrained by
their contact with the object. If the contacts allow rolling between
the object and the fingertips, it is possible for the constraints to
be nonholonomic. That is, the constraints may not restrict the
reachable configurations of the system, but rather, constrain only the
allowable velocities of the system.
<p>
Using the multifingered hand as a motivating example, this
dissertation presents a detailed analysis of the kinematics, dynamics,
and control of robot systems with contact constraints. In particular,
it presents a unified derivation of the dynamics of robot manipulators
with Pfaffian velocity constraints, including the nonholonomic case.
This derivation allows control laws to be specified which are provably
stable for an entire class of systems, including unconstrained robots,
robot hands, and other systems of multiple robots performing a
coordinated task. A method for building complex controllers which
respects this class of constraints is also developed using a set of
simple primitives which allow hierarchical control structures to be
created in an organized fashion.
<p>
Finally, the nonholonomic motion planning problem is introduced and
discussed in detail. Using tools from differential geometric control
theory, it is possible to classify and analyze systems with
nonholonomic constraints. A brief review of the necessary tools along
with a review of the current literature is presented. A practical
method for steering nonholonomic systems using sinusoids is derived
and applied to several kinematic systems with contact constraints. inematic systems with contact constraints. +
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Authors | Richard M. Murray + |
Flags | NoRequest + |
ID | 1990e + |
Source | PhD Dissertation, UC Berkeley, Dec 1990 + |
Tag | mur90-phd + |
Title | Robotic Control and Nonholonomic Motion Planning + |
Type | PhD Dissertation + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:21:02 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/erl-M90-117.pdf + |
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Robotic Control and Nonholonomic Motion Planning + | Title |
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