Journal of Shanghai Jiao Tong University ›› 2021, Vol. 55 ›› Issue (8): 1009-1017.doi: 10.16183/j.cnki.jsjtu.2019.261

Special Issue: 《上海交通大学学报》2021年12期专题汇总专辑 《上海交通大学学报》2021年“自动化技术、计算机技术”专题

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Online Motion Planning for Two Space Rigid Bodies with Rolling Constraints

REN Shufenga, YANG Dana, YU Haidonga(), Wang Haoa,b   

  1. a. Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai 200240, China
    b. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
  • Received:2019-09-15 Online:2021-08-28 Published:2021-08-31
  • Contact: YU Haidong


The rolling restraint system between two space rigid bodies is a typical non-holonomic system. The incomplete characteristics can be used to simplify the mechanical structure and improve the reliability of the system. Aimed at the problems that the state variables of the pure rolling constraint non-holonomic system are difficult to control, the existing control methods are limited to specific models, and there is a lack of online control research, a solution method suitable for the online motion planning of the general rolling constraint system is established based on the rolling constraint first-order motion model. First, the offline motion planning is achieved by using the collocation method to obtain the reference trajectory. Then, the sequential action control (SAC) algorithm is used in real-time control combined with the rolling optimization framework to realize the online motion planning of the rolling system. The algorithm is applied to the real-time motion planning of the ball-plane rolling model and the rolling model between two spheres. The simulation results show that the method has a practical application value in broadening the control of the spherical robot and the operation of the dexterous manipulator.

Key words: rolling constraints, non-holonomic system, motion planning, direct collocation method, sequential action control (SAC)

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