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Motion planning of strongly controllable stratified systems

Published online by Cambridge University Press:  16 January 2015

Ignacy Duleba and
Michal Opalka
Ignacy Duleba*
Affiliation:
Chair of Cybernetics and Robotics, Electronics Faculty, Wroclaw University of Technology, Janiszewski St. 11/17, 50-372 Wroclaw, Poland
Michal Opalka
Affiliation:
Chair of Cybernetics and Robotics, Electronics Faculty, Wroclaw University of Technology, Janiszewski St. 11/17, 50-372 Wroclaw, Poland
*
*Corresponding author. E-mail: ignacy.duleba@pwr.edu.pl
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Summary

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In this paper a motion planner for nonholonomic stratified systems was proposed. Those systems may arise easily when reliable systems are designed to be robust against failures in difficult servicing environments. For a special class of the systems, a strong controllability condition was introduced, and a criterion to satisfy the condition was formulated and used to plan the motion of free-floating space manipulators. Modules of the planner were enumerated and their roles were emphasized. Some features of the planner were examined and discussed based on simulation results performed on two models of space manipulators.

Keywords

Motion planningStratified systemsNonholonomic systemsSpace manipulators

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 10 , October 2016, pp. 2223 - 2240
Copyright
Copyright © Cambridge University Press 2015 

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