Browse > Article

Path Planning of a Free Flying Object and its Application for Gymnastic Robots  

Nam Taek-Kun (Dept. of Engine Engineering, Mokpo National Maritime University)
Kim Yong-Joo (Machine Control and Application Group, Korea Electrotechnology Research Institute.)
Publication Information
KIEE International Transaction on Electrical Machinery and Energy Conversion Systems / v.5B, no.1, 2005 , pp. 63-69 More about this Journal
Abstract
The motion of animals and gymnasts in the air as well as free flying space robots without thrusters are subjected to nonholonomic constraints generated by the law of conservation of angular momentum. The purpose of this paper is to derive analytical posture control laws for free flying objects in the air. We propose the bang-bang control method for trajectory planning of a 3 link mechanical system with initial angular momentum. This technique is used to reduce the DOF (degrees of freedom) at first switching phase and to determine the control inputs to steer the reduced order system to the desired position. Computer simulations for motion planning of an athlete approximated by 3 link, namely platform diving, are provided to verify the effectiveness of the proposed control scheme.
Keywords
nonholonomic; path planning; flying object; bang-bang control;
Citations & Related Records
연도 인용수 순위
  • Reference
1 J.M. Godhavn, A. Balluchi, L.S. Crawford, S.S. Sastry, 'Steering of a class of nonholonomic systems with drift terms', Automatica, vol. 35, pp. 837-847, 1999   DOI   ScienceOn
2 H. Nakamura, T. Mita, 'Posture control of a free flying robot with initial angular momentum', Proc. SICE DST Symposium, pp. 255-260, 1999
3 P. J. Brancazio, 'Sport science physical laws and optimum performance', Simon and Schuster Inc., 1984
4 D. E. Rosenthal and M. A. Sherman, 'High performance multi-body simulations via symbolic equation manipulation and Kane's method', Journal of Astronautical Science, vol. 34, no. 3, pp. 223-239, 1986
5 A. P. Sage, C. C. White, 'Optimum systems control', Prentice Hall
6 Y. Chen et al., 'A Proof the Structure of the minimum time control law of robotic manipulators using a Hamilton formulation', IEEE Trans. on Robotics and Automation, vol. 6, no. 3, pp. 388-393, 1990   DOI   ScienceOn
7 S. Moriguchi, K. Udagawa, S. Ichimatsu, 'Mathematical Formula I', Iwanami Pub Co., 1987
8 M. Kamon, K.Yoshida, '3 Dimensional attitude control methods for free-flying dynamic system with initial angular momentum', Journal of RSJ, pp. 223-231,1998
9 T. Mita, S. H. Hyon, and T. K. Nam, 'Analytical time optimal control solution for free flying objects with drift term', Proc. of IEEE CDC, pp. 91-94, 2000
10 Zexiang Li, J. F. Canny, 'Nonholonomic motion planning', Kluwer Academic Publishers
11 M. Sampei, H. Kiyota, 'Control of Underactuated Flying Objects', Proc. of Titech COE Workshop, pp. 266-271,1999