Non-holonomic turns and manageable feedback control in space robotics

Jun'ichiro Kawaguchi, Koki Minamikawa, Ken'ichi Nishinakamura

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

A well known falling cat phenomenon is revisited and a new interpretation from the non-holonomic motion is added. The primary conclusion says that 1) only angular velocity completely perpendicular to the intended axis of rotation makes the spin aimed, 2) the Hula-Hoop loins motion is found as an optimal motion for it and 3) an analytical expression of the motion is obtained in terms of time, which is applicable to the closed loop control taking the advantage of predictive or feed forward solution. Rigorous solution is provided via Rodrigues parameter. The results are practical and can be utilized as a manageable reorientation method in space robotics.

本文言語English
ページ190-195
ページ数6
出版ステータスPublished - 2004
外部発表はい
イベントInternational Astronautical Federation - 55th International Astronautical Congress 2004 - Vancouver, Canada
継続期間: 2004 10 42004 10 8

Other

OtherInternational Astronautical Federation - 55th International Astronautical Congress 2004
国/地域Canada
CityVancouver
Period04/10/404/10/8

ASJC Scopus subject areas

  • 航空宇宙工学
  • 宇宙惑星科学

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