Abstract
The attitude control of a horizontal underactuated Manipulator (UAM) is a difficult control problem because of its second-order nonholonomic constraints. This paper proposes a new method for the trajectory planning of the UAM. In the proposed method, the trajectory planning is transformed to a constraint satisfaction problem, and the constraint satisfaction problem is solved by using a sequence of multi-layer perceptrons which are trained to be a forward model of the UAM. We show the effectiveness of our method by several experimental results.
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Nishida, Y., Nagamatu, M. (2009). Trajectory Planning with Dynamics Constraints for an Underactuated Manipulator. In: Köppen, M., Kasabov, N., Coghill, G. (eds) Advances in Neuro-Information Processing. ICONIP 2008. Lecture Notes in Computer Science, vol 5506. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02490-0_96
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DOI: https://doi.org/10.1007/978-3-642-02490-0_96
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-02489-4
Online ISBN: 978-3-642-02490-0
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