Planning spiral motion of nonholonomic space robots

Takahiro Suzuki, Yoshihiko Nakamura

Research output: Contribution to journalConference articlepeer-review

31 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)718-725
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1996 Jan 1
Externally publishedYes
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 1996 Apr 221996 Apr 28

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering


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