Underactuated robots usually perform point-to-point motions exploiting the differential flatness property. This paper aims to extend the capabilities of this class of robots considering a via point in the workspace. A method for trajectory planning in the space of flat variables is presented. Flat variables are described by means of polynomials and have to guarantee the continuity of motor torques. Numerical results and experimental tests carried out on a 2 degree of freedom prototype show the validity of the method, which allows the robot to avoid an obstacle in the workspace.
Planning of Underactuated Differentially Flat Robot Trajectories with a via Point
Tonan M.
;Doria A.;Bottin M.;Rosati G.
2024
Abstract
Underactuated robots usually perform point-to-point motions exploiting the differential flatness property. This paper aims to extend the capabilities of this class of robots considering a via point in the workspace. A method for trajectory planning in the space of flat variables is presented. Flat variables are described by means of polynomials and have to guarantee the continuity of motor torques. Numerical results and experimental tests carried out on a 2 degree of freedom prototype show the validity of the method, which allows the robot to avoid an obstacle in the workspace.
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
