Date post: | 21-Dec-2015 |
Category: |
Documents |
View: | 219 times |
Download: | 3 times |
MOTION PLANNING FOR HIGHLY REDUNDANT RECONFIGURABLE ROBOTS USING A
CONTINUOUS MODEL
Chris ThorneMEAM 620
University of Pennsylvania3.19.06
Objective
• Use a continuous model to perform inverse kinematics and path planning for self-reconfiguration of modular robots
Modular Robots
3D module model using Matlab
Continuous model overview
dssdsK /)()(
Cuvature, K(s) is the reciprocal of (s), the radius of the osculating circle
Curvature segment: basic unit of continuous model in 2-D
Discretized using 5 points, use cubic spline interpolation for curvature function
Use curvature operators to move spline control points along the curve and/or Increase/decrease the curvature
Example-open space solution