Planning spiral motion of nonholonomic space robots

Takahiro Suzuki, Yoshihiko Nakamura

研究成果: Conference article査読

30 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)718-725
ページ数8
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
1
出版ステータスPublished - 1996 1 1
外部発表はい
イベントProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
継続期間: 1996 4 221996 4 28

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学

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