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Task-priority motion planning of underactuated systems: an endogenous configuration space approach

Published online by Cambridge University Press:  11 December 2009

Adam Ratajczak ,
Joanna Karpińska  and
Krzysztof Tchoń
Adam Ratajczak*
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland. E-mails: joanna.karpinska@pwr.wroc.pl, krzysztof.tchon@pwr.wroc.pl
Joanna Karpińska
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland. E-mails: joanna.karpinska@pwr.wroc.pl, krzysztof.tchon@pwr.wroc.pl
Krzysztof Tchoń
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland. E-mails: joanna.karpinska@pwr.wroc.pl, krzysztof.tchon@pwr.wroc.pl
*
*Corresponding author. E-mail: adam.ratajczak@pwr.wroc.pl
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Summary

This paper presents a task-priority motion planning algorithm for underactuated robotic systems. The motion planning algorithm combines two features: the idea of the task-priority control of redundant manipulators and the endogenous configuration space approach. This combination results in the algorithm which solves the primary motion planning task simultaneously with one or more secondary tasks ordered in accordance with decreasing priorities. The performance of the task-priority motion planning algorithm has been illustrated with computer simulations of the motion planning problem for a container ship.

Keywords

Underactuated systemMotion planningTask priorityEndogenous configuration approachContainer ship
Type
Article
Information
Robotica , Volume 28 , Issue 6 , October 2010 , pp. 885 - 892
Copyright
Copyright © Cambridge University Press 2009

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