@inproceedings{9f8b314c7b2241fabe77064d5a8b7e6f,
title = "Motion planning for a 3-DOF robot with a passive joint",
abstract = "Studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint. Such a robot is small-Time locally controllable on an open subset of its zero velocity section, allowing it to follow any path in this subset arbitrarily closely. However some paths are {"}preferred{"} by the dynamics of the manipulator in that they can be followed at higher speeds. We describe an algorithm that plans collision-free paths in the robot's configuration space, where the motions correspond to dynamically preferred robot motions. Thus the problem of planning fast trajectories in the robot's six-dimensional state space is reduced to the computationally simpler problems of planning paths in the three-dimensional configuration space and time-scaling the paths according to the manipulator dynamics. Implementation on an underactuated manipulator is described.",
author = "Lynch, {K. M.} and N. Shiroma and H. Arai and K. Tanie",
note = "Publisher Copyright: {\textcopyright} 1998 IEEE.; 15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",
year = "1998",
doi = "10.1109/ROBOT.1998.677165",
language = "English (US)",
isbn = "078034300X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "927--932",
booktitle = "Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998",
address = "United States",
}