https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Robotic_Control_and_Nonholonomic_Motion_Planning 2026-07-31T07:18:43Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Robotic_Control_and_Nonholonomic_Motion_Planning&diff=20072&oldid=prev 2016-05-15T06:21:02Z

<p>htdb2wiki: creating page for 1990e_mur90-phd.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Richard M. Murray<br /> | title = Robotic Control and Nonholonomic Motion Planning<br /> | source = PhD Dissertation, UC Berkeley, Dec 1990<br /> | year = 1990<br /> | type = PhD Dissertation<br /> | funding = <br /> | url = http://www.cds.caltech.edu/~murray/preprints/erl-M90-117.pdf<br /> | abstract = <br /> This dissertation addresses the problem of control and kinematic<br /> planning for constrained robot systems. An example of a system of<br /> this type is a multifingered robot hand grasping an object. The<br /> individual fingers act as robot manipulators and are constrained by<br /> their contact with the object. If the contacts allow rolling between<br /> the object and the fingertips, it is possible for the constraints to<br /> be nonholonomic. That is, the constraints may not restrict the<br /> reachable configurations of the system, but rather, constrain only the<br /> allowable velocities of the system.<br /> &lt;p&gt;<br /> Using the multifingered hand as a motivating example, this<br /> dissertation presents a detailed analysis of the kinematics, dynamics,<br /> and control of robot systems with contact constraints. In particular,<br /> it presents a unified derivation of the dynamics of robot manipulators<br /> with Pfaffian velocity constraints, including the nonholonomic case.<br /> This derivation allows control laws to be specified which are provably<br /> stable for an entire class of systems, including unconstrained robots,<br /> robot hands, and other systems of multiple robots performing a<br /> coordinated task. A method for building complex controllers which<br /> respects this class of constraints is also developed using a set of<br /> simple primitives which allow hierarchical control structures to be<br /> created in an organized fashion.<br /> &lt;p&gt;<br /> Finally, the nonholonomic motion planning problem is introduced and<br /> discussed in detail. Using tools from differential geometric control<br /> theory, it is possible to classify and analyze systems with<br /> nonholonomic constraints. A brief review of the necessary tools along<br /> with a review of the current literature is presented. A practical<br /> method for steering nonholonomic systems using sinusoids is derived<br /> and applied to several kinematic systems with contact constraints.<br /> <br /> | flags = NoRequest<br /> | tag = mur90-phd<br /> | id = 1990e<br /> }}</div>

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