複数の非駆動関節を有する連結平面剛体の非ホロノミック運動計画

抄録

Motion planning for coupled rigid bodies in a horizontal plane is investigated. The rigid bodies are serially connected by passive revolute joints. The dynamic constraints on the system are second-order nonholonomic constraints. We attempted to control those n coupled rigid bodies by the translational acceleration inputs at the first joint. If each rigid body is hinged at the center of percussion, it is possible to compose a positioning trajectory by connecting rotational and translational trajectories. Each rigid body can be rotated about its center of percussion by turns. When all rigid bodies are aligned on a straight line, they can be translated. The algorithm for positioning is presented. Simulation shows that the coupled planar rigid bodies can reach the desired configuration by the constructed inputs.