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ARTICLE
Motion planning for task-based motions of mechanical systems based on computationally generated reference dynamics
Submission date: 2024-01-03
Final revision date: 2024-02-16
Acceptance date: 2024-02-21
Online publication date: 2024-09-04
Corresponding author
Elżbieta Jarzębowska
Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24,, 00-665, Warszawa, Poland
Power and Aeronautical Engineering, Warsaw University of Technology, Nowowiejska 24,, 00-665, Warszawa, Poland
Journal of Theoretical and Applied Mechanics 2024;62(3):615-629
KEYWORDS
TOPICS
ABSTRACT
The paper presents a development of a complementary motion planning strategy for task-
-based motions for mechanicl systems. The key component of the strategy is a computational
procedure for generation of constrained dynamical models, where constraints can be mate-
rial or task-based ones and specify work regime requirements. The procedure provides the
constrained dynamics, i.e. reference dynamics, whose solutions satisfy all constraints upon
systems and enable motion planning. It is a unified tool for constrained motion analysis, mo-
tion planning and controller designs. The procedure effectiveness is demonstrated through
constrained dynamics generation and motion planning analysis for a robotic system.
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| eISSN: | 2543-6309 |
| ISSN: | 1429-2955 |
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