Motion planning for task-based motions of mechanical systems based on computationally generated reference dynamics

The paper presents a development of a complementary motion planning strategy for task--based motions for mechanicl systems.The key component of the strategy is a computational procedure for generation of constrained dynamical models, where constraints can be material or task-based ones and specify work regime requirements.The procedure provides the constrained dynamics, i.e. reference dynamics, whose solutions satisfy all constraints upon systems and enable motion planning.It is a unified tool for constrained motion analysis, motion planning and controller designs.The procedure effectiveness is demonstrated through constrained dynamics generation and motion planning analysis for a robotic system.