Abstract
In this paper, we first derive Hamel's variational integrators for open-chain manipulators in the framework of geometric mechanics, where the roots of Hamel' s variational integrators are found by feedback control. Next, we use the above algorithm to solve a forward dynamics problem in reaction planning. As a result, the gyroscopic force is introduced to replace the repulsive force, thus avoiding the local minima dilemma of the artificial potential method, and realizing real-time obstacle avoidance for the whole manipulator. Finally, the effectiveness of the proposed algorithm is illustrated via two numerical examples.
| Translated title of the contribution | FEEDBACK HAMEL' S VARIATIONAL INTEGRATORS OF OPEN-CHAIN MANIPULATORS |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 8-14 |
| Number of pages | 7 |
| Journal | Journal of Dynamics and Control |
| Volume | 20 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 2022 |