Trajectory planning with dynamics constraints for an underactuated manipulator

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. © 2009 Springer Berlin Heidelberg.