Abstract:
This paper is devoted to the servoconstraints approach in the problem of periodic
motion planning for Euler – Lagrange systems with a single degree of underactuation. We focus
on the case where the servoconstraint is not regular and thus leads to the appearance of isolated
singularities in reduced dynamics. We demonstrate that, subject to supplementary conditions,
the reduced dynamics possess smooth solutions that pass through the singular point and this
can be utilized for finding trajectories of the original system. Building upon this outcome, we
solve the problem of motion planning of the Pendubot system with an imposed eight-shaped
servoconstraint. To verify the feasibility of the discovered trajectory, we present computer
simulation results of the closed-loop system with feedback that enables orbital stabilization
for the trajectory.
References