motion planning for highly redundant reconfigurable robots using a continuous model chris thorne...
Post on 21-Dec-2015
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![Page 1: MOTION PLANNING FOR HIGHLY REDUNDANT RECONFIGURABLE ROBOTS USING A CONTINUOUS MODEL Chris Thorne MEAM 620 University of Pennsylvania 3.19.06](https://reader036.vdocuments.net/reader036/viewer/2022062516/56649d695503460f94a47aaa/html5/thumbnails/1.jpg)
MOTION PLANNING FOR HIGHLY REDUNDANT RECONFIGURABLE ROBOTS USING A
CONTINUOUS MODEL
Chris ThorneMEAM 620
University of Pennsylvania3.19.06
![Page 2: MOTION PLANNING FOR HIGHLY REDUNDANT RECONFIGURABLE ROBOTS USING A CONTINUOUS MODEL Chris Thorne MEAM 620 University of Pennsylvania 3.19.06](https://reader036.vdocuments.net/reader036/viewer/2022062516/56649d695503460f94a47aaa/html5/thumbnails/2.jpg)
Objective
• Use a continuous model to perform inverse kinematics and path planning for self-reconfiguration of modular robots
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Modular Robots
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3D module model using Matlab
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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
![Page 6: MOTION PLANNING FOR HIGHLY REDUNDANT RECONFIGURABLE ROBOTS USING A CONTINUOUS MODEL Chris Thorne MEAM 620 University of Pennsylvania 3.19.06](https://reader036.vdocuments.net/reader036/viewer/2022062516/56649d695503460f94a47aaa/html5/thumbnails/6.jpg)
Example-open space solution