Utilization of holonomic distribution control for reactionless path planning

Dimitar Dimitrov, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Citations (Scopus)

Abstract

This article introduces a new technique for planning reactionless paths to a point in Cartesian space, for manipulators mounted on a free-floating satellite. It is based on decomposition of the manipulator joint space into sets referred to as primitives which have redundancy one with respect to the attitude motion of the base body. The time duration of the manipulator motion is divided into sub-intervals. During a given sub-interval only one primitive is used. The choice of feasible sequence of primitives and times for their actuation, that satisfies given path constraints is made using mixed-variables optimization solver based on a mesh adaptive direct search algorithm.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages3387-3392
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Dimitrov, D., & Yoshida, K. (2006). Utilization of holonomic distribution control for reactionless path planning. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 3387-3392). [4058924] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282574