Hostname: page-component-6898cfcb55-th4rj Total loading time: 0 Render date: 2026-11-11T21:55:00.444Z Has data issue: false hasContentIssue false
  • English
  • Français

Task-priority motion planning of underactuated systems: an endogenous configuration space approach

Published online by Cambridge University Press:  11 December 2009

Adam Ratajczak,
Joanna Karpińska and
Krzysztof Tchoń
Adam Ratajczak*
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland. E-mails: joanna.karpinska@pwr.wroc.pl, krzysztof.tchon@pwr.wroc.pl
Joanna Karpińska
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland. E-mails: joanna.karpinska@pwr.wroc.pl, krzysztof.tchon@pwr.wroc.pl
Krzysztof Tchoń
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland. E-mails: joanna.karpinska@pwr.wroc.pl, krzysztof.tchon@pwr.wroc.pl
*
*Corresponding author. E-mail: adam.ratajczak@pwr.wroc.pl
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

This paper presents a task-priority motion planning algorithm for underactuated robotic systems. The motion planning algorithm combines two features: the idea of the task-priority control of redundant manipulators and the endogenous configuration space approach. This combination results in the algorithm which solves the primary motion planning task simultaneously with one or more secondary tasks ordered in accordance with decreasing priorities. The performance of the task-priority motion planning algorithm has been illustrated with computer simulations of the motion planning problem for a container ship.

Keywords

Underactuated systemMotion planningTask priorityEndogenous configuration approachContainer ship

Information

Type
Article
Information
Robotica , Volume 28 , Issue 6 , October 2010, pp. 885 - 892
Copyright
Copyright © Cambridge University Press 2009

References

1.Spong, M. W., “Underactuated Mechanical Systems,” In: Control Problems in Robotics and Automation (Lecture Notes in Control and Information Sciences 230) (Siciliano, B. and Valavanis, K., eds.) (London, Springer-Verlag, 1997) pp. 135–150.Google Scholar
2.De Luca, A., Iannitti, S., Mattone, R. and Oriolo, G., “Control Problems in Underactuated Manipulators,” Proceedings IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2001), Como, Italy (July 2001) pp. 855–861.Google Scholar
3.Shiriaev, A., Robertsson, A., Pacull, P. and Fossen, T. I., “Motion Planning and Its Feedback Stabilization for Underactuated Ships: Virtual Constraints Approach,” Proceedings 16th IFAC World Congress, Prague, Czech Republic (July 2005) pp. 67–72.Google Scholar
4.Fossen, T. I., Guidance and Control of Ocean Vehicles (J. Wiley, New York, 1994).Google Scholar
5.Tchoń, K. and Jakubiak, J., “Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms,” Int. J. Control 76, 1387–1419 (Sep. 2003).CrossRefGoogle Scholar
6.Tchoń, K., Jakubiak, J. and Zadarnowska, K., “Mobile Manipulators with Affine Control System Representation,” In: Cybernetics of Robotic Systems (Tchoń, K., ed.) (WKiŁ;, Warsaw, PL, 2004) pp. 75–116.Google Scholar
7.Nakamura, Y., Advanced Theoretical Robotics: Redundancy and Optimization (Prentice Hall, New Jersey, NJ, 1991).Google Scholar
8.Chiaverini, S., “Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators,” IEEE Trans. Robot. Autom. 13, 398–410 (Jun. 1997).CrossRefGoogle Scholar
9.Ratajczak, A. and Tchoń, K., “Control of Underactuated Robotic Manipulators: An Endogenous Configuration Space Approach,” Proceedings IEEE International Conference on Methods and Models in Automation and Robotics (MMAR 2007), Szczecin, Poland (2007) pp. 985–990.Google Scholar
10.Ratajczak, A., Karpińska, J. and Tchoń, K., “Task Priority Motion Planning Algorithm for an Ocean Ship: The Endogenous Configuration Space Approach,” Tenth National Conference on Robotics, Piechowice, Poland (2008) (in Polish).Google Scholar
11.Karpińska, J., Models and Control Algorithms of Underwater Robots Master's Thesis (Wrocław, Poland: Wrocław University of Technology, 2007) (in Polish).Google Scholar
12.Antonelli, G., Underwater Robots – Motion and Force Control of Vehicle-Manipulator Systems (Springer-Verlag, Berlin, 2003).Google Scholar
13.Ben-Israel, A. and Greville, T. N., Generalized Inverses Theory and Applications (Springer-Verlag, New York, 2003).Google Scholar
14.Luenberger, D. G., Optimization by Vector Space Methods (J. Wiley, New York, 1999).Google Scholar