Point-to-point trajectory planning strategy research for a multi-robot towing system
In view of the velocity and acceleration discontinuity by lifted object trajectories cannot be directly applied to multi-robot coordination of inverse kinematics problem of the towing system, a inverse kinematic solution strategy based on point-to-point trajectory planning was proposed. Firstly, the...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Strength
2024-06-01
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| Series: | Jixie qiangdu |
| Subjects: | |
| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2024.03.020 |
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| author | Ll Tao ZHAO ZhiGang ZHU MingTong ZHAO XiangTang |
| author_facet | Ll Tao ZHAO ZhiGang ZHU MingTong ZHAO XiangTang |
| author_sort | Ll Tao |
| collection | DOAJ |
| description | In view of the velocity and acceleration discontinuity by lifted object trajectories cannot be directly applied to multi-robot coordination of inverse kinematics problem of the towing system, a inverse kinematic solution strategy based on point-to-point trajectory planning was proposed. Firstly, the kinematic and dynamic model of the system was established, and inverse kinematics of the system were analyzed and different solutions aiming at different situations were given. Secondly, the strategy for solving feasible inverse solution based on point-to-point trajectory planning, and three algebraic programming methods were used to plan the trajectory of lifted objects. The continuity of velocity and acceleration was ensured during the planning process. Finally, the feasibility of the strategy was verified by two simulation examples, and only the quintic polynomial planning method met the tension condition. The research results lay a foundation for the optimal distribution and control of system tension. |
| format | Article |
| id | doaj-art-5dab575d1b5d428aa5b09975ceb5fd89 |
| institution | Kabale University |
| issn | 1001-9669 |
| language | zho |
| publishDate | 2024-06-01 |
| publisher | Editorial Office of Journal of Mechanical Strength |
| record_format | Article |
| series | Jixie qiangdu |
| spelling | doaj-art-5dab575d1b5d428aa5b09975ceb5fd892025-01-15T02:45:23ZzhoEditorial Office of Journal of Mechanical StrengthJixie qiangdu1001-96692024-06-014667568463938756Point-to-point trajectory planning strategy research for a multi-robot towing systemLl TaoZHAO ZhiGangZHU MingTongZHAO XiangTangIn view of the velocity and acceleration discontinuity by lifted object trajectories cannot be directly applied to multi-robot coordination of inverse kinematics problem of the towing system, a inverse kinematic solution strategy based on point-to-point trajectory planning was proposed. Firstly, the kinematic and dynamic model of the system was established, and inverse kinematics of the system were analyzed and different solutions aiming at different situations were given. Secondly, the strategy for solving feasible inverse solution based on point-to-point trajectory planning, and three algebraic programming methods were used to plan the trajectory of lifted objects. The continuity of velocity and acceleration was ensured during the planning process. Finally, the feasibility of the strategy was verified by two simulation examples, and only the quintic polynomial planning method met the tension condition. The research results lay a foundation for the optimal distribution and control of system tension.http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2024.03.020Under-constrainedMulti-robot systemTowing systemPoint-to-point trajectory planningInverse kinematics |
| spellingShingle | Ll Tao ZHAO ZhiGang ZHU MingTong ZHAO XiangTang Point-to-point trajectory planning strategy research for a multi-robot towing system Jixie qiangdu Under-constrained Multi-robot system Towing system Point-to-point trajectory planning Inverse kinematics |
| title | Point-to-point trajectory planning strategy research for a multi-robot towing system |
| title_full | Point-to-point trajectory planning strategy research for a multi-robot towing system |
| title_fullStr | Point-to-point trajectory planning strategy research for a multi-robot towing system |
| title_full_unstemmed | Point-to-point trajectory planning strategy research for a multi-robot towing system |
| title_short | Point-to-point trajectory planning strategy research for a multi-robot towing system |
| title_sort | point to point trajectory planning strategy research for a multi robot towing system |
| topic | Under-constrained Multi-robot system Towing system Point-to-point trajectory planning Inverse kinematics |
| url | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2024.03.020 |
| work_keys_str_mv | AT lltao pointtopointtrajectoryplanningstrategyresearchforamultirobottowingsystem AT zhaozhigang pointtopointtrajectoryplanningstrategyresearchforamultirobottowingsystem AT zhumingtong pointtopointtrajectoryplanningstrategyresearchforamultirobottowingsystem AT zhaoxiangtang pointtopointtrajectoryplanningstrategyresearchforamultirobottowingsystem |