Optimal motion planning for differentially flat underactuated mechanical systems

Author

He, Guang-Ping ; Geng, Zhi-Yong

Author_Institution

Dept. of Mech. & Aerosp. Eng., Peking Univ., Beijing

fYear

2008

fDate

1-3 Sept. 2008

Firstpage

1567

Lastpage

1572

Abstract

It is shown that the flat output of the single input underactuated mechanical system can be obtained by finding a smooth output function such that the system has relative degree equals to the dimension of the state space. Assuming the flat output of an underactuated system can be solved explicitly, an optimization method is proposed for the motion planning of the differentially flat underactuated mechanical systems by constructing a shape adjustable curve with satisfying specific boundary conditions in flat output space. The inertia wheel pendulum is used to verify the proposed optimization method and some numerical simulation results are included.

Keywords

mechanical products; optimisation; path planning; pendulums; state-space methods; differentially flat underactuated mechanical system; inertia wheel pendulum; numerical simulation; optimal motion planning; optimization method; smooth output function; state space method; Aerospace engineering; Automation; Control systems; Equations; Laboratories; Mechanical systems; Motion control; Nonlinear control systems; Nonlinear systems; Optimization methods; Differential flatness; Motion planning; Optimization; Underactuated system;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on

Conference_Location

Qingdao

Print_ISBN

978-1-4244-2502-0

Electronic_ISBN

978-1-4244-2503-7

Type

conf

DOI

10.1109/ICAL.2008.4636403

Filename

4636403