Planning a path for a nonholonomic robot is a challenging topic in motion planning and it becomes more difficult when the desired path contains narrow passages. This kind of scenario can arise, for instance, when quadcopters search a collapsed building after a natural disaster. Choosing the quadcopter as the target platform, this paper proposes the Kinodynamic Aggressive Trajectory (KAT) motion...

We analyze the behavior of redundant robots when the joint motion is generated by inverting task velocity commands through a kinematic control scheme. Depending on the chosen inversion scheme, the robot motion is subject to differential constraints that may or may not be integrable. Accordingly, we give a classification in terms of holonomic, partially nonholonomic, and completely nonholonomic ...

Abstract Nonholonomic mechanics describes the motion of systems constrained by nonintegrable constraints. One its most remarkable properties is that derivation nonholonomic equations not variational in nature. However, this paper, we prove (Theorem 1.1) for kinetic systems, solutions starting from a fixed point q are true geodesics family Riemannian metrics on image submanifold $${{\mathcal {M}...

This paper presents initial results on the control of mechanical systems for which group symmetries exist (i.e., the dynamics are invariant under the action of a Lie group) and are not fully annihilated by the addition of nonholonomic constraints. These types of systems are characterized by the persistence of momentum-like drift terms which are not directly controllable via the inputs to the sy...

A correction to the previously published article “New Form of Kane’s Equations of Motion for Constrained Systems”1 is presented. Misuse of the transformation matrix between time rates of change of the generalized coordinates and generalized speeds (sometimes called motion variables) resulted in a false conclusion concerning the symmetry of the generalized inertia matrix. The generalized inertia...

In this report, we study the distributed control problem of networked Euler-Lagrange(EL) systems with nonholonomic constraints. The reason for singling out this particular topic is that distributed control of networked Euler-Lagrange systems with nonholonomic constraints captures a large class of contemporary engineering problems, such as rendezvous problem and formation problem. We propose a n...

(ABSTRACT) In this thesis we study the methods for motion planning for nonholonomic systems. These systems are characterized by nonholonomic constraints on their generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inputs than the degrees of freedom. The main focus of the thesis is on the study of motio...

When multiple arms are used to manipulate a large object, it is necessary to maintain and control contacts between the object and effector(s) on one or more arms. The contacts are characterized by holonolnic as well as nonholonomic constraints. This paper addresses the control of rnechaaical systems subject to nonholonomic constraints, rolling constraints in particular. It has been shown that s...