Controllability and motion planning of multibody systems with nonholonomic constraints
Jinglai Shen
Schneider, D.A.
Bloch, A.M.
Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA;
This paper appears in: Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Publication Date: 9-12 Dec. 2003
Volume: 5,
On page(s): 4369- 4374 Vol.5
ISSN: 0191-2216
ISBN: 0-7803-7924-1
INSPEC Accession Number: 7979308
Digital Object Identifier: 10.1109/CDC.2003.1272174
Current Version Published: 2004-03-15
Abstract
We consider the dynamics and control of a multibody spherical robot. Internal rotors and sliders are considered as the mechanism for control. Our model is based on equations developed for certain systems with nonholonomic constraints (in particular, systems based on Chaplygin's sphere and Chaplygin's top) and the multibody framework for unconstrained systems developed. The methods for determining controllability and path planning for multibody systems with symmetry that are developed, are extended to treat systems with constraints. Several results on the controllability and path planning of our spherical robot model are presented.
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