Title :
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
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;
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
DOI :
10.1109/ICAL.2008.4636403
