Coordinating control of multiple rigid bodies based on motion primitives  

作　　者：Fan Wu Zhi-Yong Geng 

机构地区：[1]State Key Laboratory for Turbulence and Complex Systems,Peking University,100871 Beijing,China

出　　处：《Acta Mechanica Sinica》2012年第2期482-489,共8页力学学报（英文版）

基　　金：supported by the National Natural Science Foundation of China (11072002,10832006)

摘　　要：This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and ma- neuvers, are given as building blocks for generating coordi- nated motions. In a motion-primitive based planning frame- work, a control method is proposed for the robust execution of a coordinated motion plan in the presence of perturba- tions. The control method combines the relative equilibria stabilization with maneuver design, and results in a close- loop motion planning framework. The performance of the control method has been illustrated through a numerical sim- ulation.This paper studies the problem of coordinated motion generation for a group of rigid bodies. Two classes of coordinated motion primitives, relative equilibria and ma- neuvers, are given as building blocks for generating coordi- nated motions. In a motion-primitive based planning frame- work, a control method is proposed for the robust execution of a coordinated motion plan in the presence of perturba- tions. The control method combines the relative equilibria stabilization with maneuver design, and results in a close- loop motion planning framework. The performance of the control method has been illustrated through a numerical sim- ulation.

关 键 词：Coordinating control Motion plan execution Motion primitive. Relative equilibrium. Maneuver 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM621.6[自动化与计算机技术—控制科学与工程]