Kinematic controllability and decoupled trajectory planning for underactuated mechanical systems

F. Bullo*, K. M. Lynch

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

14 Scopus citations

Abstract

We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying this property, the problem of planning fast collision-free trajectories between zero velocity states can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time-optimal time scaling. While this approach is well known for fully actuated systems, until now there has been no way to apply it to underactuated dynamic systems. The results in this paper form the basis for efficient collision-free trajectory planning for a broad class of underactuated mechanical systems including manipulators and vehicles in space and underwater environments.

Original languageEnglish (US)
Pages (from-to)3300-3307
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4
StatePublished - Jan 1 2001
Event2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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