Abstract
Nonholonomicity arises in many mechanical systems subjected to nonintegrable velocity constraints or nonintegrable conservation laws. Due to nonholonomic constraints, the motion planning and control of a nonholonomic multibody system is much more difficult than that of a conventional system. Nonholonomic characteristic and controllable condition are investigated using the infinite dimension optimization and the control theory, regarding the system's dissipation energy as a target function and considering the nonholonomic characteristic, a numerical method for the nonholonmic motion planning without drift is proposed. The effectiveness of the numerical algorithm is demonstrated by numerical simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 63-68 |
| Number of pages | 6 |
| Journal | Gongcheng Lixue/Engineering Mechanics |
| Volume | 23 |
| Issue number | 3 |
| State | Published - Mar 2006 |
| Externally published | Yes |
Keywords
- Motion planning
- Multibody system
- Nonholonomic constraint
- Optimal control
- Space manipulator
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