SUMMARYThis paper presents a task-priority motion planning algorithm for underactuated robotic systems. The motion planning algorithm combines two features: the idea of the task-priority control of redundant manipulators and the endogenous configuration space approach. This combination results in the algorithm which solves the primary motion planning task simultaneously with one or more secondary tasks ordered in accordance with decreasing priorities. The performance of the task-priority motion planning algorithm has been illustrated with computer simulations of the motion planning problem for a container ship.

Abstract. This paper addresses the motion planning problem in non-holonomic robotic systems. The system's kinematics and dynamics are represented as a control affine system with outputs. The problem is defined in terms of the end-point map of this system, using the endogenous configuration space approach. Special attention is paid to the multiple-task motion planning problem, i.e. a problem that beyond the proper motion planning task includes a number of additional tasks. For multiple-task motion planning two strategies have been proposed, called the egalitarian approach and the prioritarian approach. Also, two computational strategies have been launched of solving the motion planning problem: the parametric and the non-parametric. The motion planning and computational strategies have been applied to a motion planning problem of the trident snake robot. Performance of the motion planning algorithms is illustrated with computer simulations.

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Abstract. This paper introduces a new algorithm of trajectory reproduction and trajectory tracking for nonholonomic systems. The endogenous configuration space approach is employed as a guideline in the algorithm derivation. The derivation uses a trajectory reproduction error, which is an integral of the difference between the resultant trajectory and the desired trajectory over the motion horizon. Such a definition of the error allows to solve both the trajectory reproduction as well as the trajectory tracking problem. Considerable attention in the paper has been paid to the implementation aspects of the algorithm. The nonparametric approach is used together with a higher order of the integration method. The algorithm efficiency is illustrated with computer simulations accomplished for two nonholonomic systems: the dynamics of the double pendulum with a passive joint, and the kinematics of the unicycle.