A free-flying space robot with a 6 DOF manipulator cannot follow an arbitrary trajectory in the 9D generalized coordinates (3 of the satellite orientation and 6 of the manipulator) with only manipulator joint control, through it was shown to be commonly controllable in the literature. In this paper, we propose a method to approximate the desired 9D path by introducing a perturbation around it. We call the approximated trajectory the 'spiral motion.' A computational scheme for planning the spiral motion is presented, and is followed by computer simulation that illustrates the effectiveness of the scheme.
|Number of pages||8|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|Publication status||Published - 1996 Jan 1|
|Event||Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA|
Duration: 1996 Apr 22 → 1996 Apr 28
ASJC Scopus subject areas
- Control and Systems Engineering