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Article

Motion Planning of a Second-Order Nonholonomic Chained Form System Based on Holonomy Extraction

School of Information Science and Technology, Aichi Prefectural University, Nagakute, Aichi 480-1198, Japan
Electronics 2019, 8(11), 1337; https://doi.org/10.3390/electronics8111337
Received: 11 September 2019 / Revised: 1 November 2019 / Accepted: 5 November 2019 / Published: 12 November 2019
(This article belongs to the Special Issue Motion Planning and Control for Robotics)
This paper proposes a motion planning algorithm for dynamic nonholonomic systems represented in a second-order chained form. The proposed approach focuses on the so-called holonomy resulting from a kind of motion that traverses a closed path in a reduced configuration space of the system. According to the author’s literature survey, control approaches that make explicit use of holonomy exist for kinematic nonholonomic systems but does not exist for dynamic nonholonomic systems. However, the second-order chained form system is controllable. Also, the structure of the second-order chained form system analogizes with the one of the first-order chained form for kinematic nonholonomic systems. These survey and perspectives brought a hypothesis that there exists a specific control strategy for extracting holonomy of the second-order chained form system to the author. To verify this hypothesis, this paper shows that the holonomy of the second-order chained form system can be extracted by combining two appropriate pairs of sinusoidal inputs. Then, based on such holonomy extraction, a motion planning algorithm is constructed. Furthermore, the effectiveness is demonstrated through some simulations including an application to an underactuated manipulator. View Full-Text
Keywords: nonholonomic systems; second-order chained form; motion planning; holonomy; sinusoidal inputs nonholonomic systems; second-order chained form; motion planning; holonomy; sinusoidal inputs
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MDPI and ACS Style

Ito, M. Motion Planning of a Second-Order Nonholonomic Chained Form System Based on Holonomy Extraction. Electronics 2019, 8, 1337. https://doi.org/10.3390/electronics8111337

AMA Style

Ito M. Motion Planning of a Second-Order Nonholonomic Chained Form System Based on Holonomy Extraction. Electronics. 2019; 8(11):1337. https://doi.org/10.3390/electronics8111337

Chicago/Turabian Style

Ito, Masahide. 2019. "Motion Planning of a Second-Order Nonholonomic Chained Form System Based on Holonomy Extraction" Electronics 8, no. 11: 1337. https://doi.org/10.3390/electronics8111337

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