Smooth planning for free-floating space robots using polynomials

被引：0
|
作者：
Papadopoulos, E [1 ]
Tortopidis, L [1 ]
Nanos, K [1 ]
机构：
[1] Natl Tech Univ Athens, Dept Mech Engn, Athens 15780, Greece
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
space free-floating robots; nonholonomic planning; underactuated systems;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Free-floating space manipulator systems, have actuators turned off and exhibit nonholonomic behavior due to angular momentum conservation. A path planning methodology for planar free-floating space manipulator systems is developed that allows simultaneous manipulator end-point and spacecraft attitude control using manipulator actuators only. The method is based on mapping the angular momentum to a space where it can be satisfied triviallly. Smooth and continuous functions such as polynomials are employed driving the system to a desired configuration. It is shown that the method allows for smooth configuration changes in finite and prescribed time, without requiring small cyclical motions. Limitations are discussed and examples are presented.
引用
收藏
页码：4272 / 4277
页数：6
相关论文
共 50 条
  • [1] Coordinated Manipulator and Spacecraft Motion Planning for Free-Floating Space Robots
    Shui, Haitao
    Peng, Shengjun
    Li, Xun
    Ma, Hongxu
    [J]. 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 371 - +
  • [2] Optimal Motion Planning for Free-Floating Space Robots based on Null Space Approach
    Shui, Haitao
    Wang, Jianwen
    Ma, Hongxu
    [J]. 2009 INTERNATIONAL CONFERENCE ON MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION, VOL II, 2009, : 845 - 848
  • [3] Dynamic Simulations of Free-Floating Space Robots
    Rybus, Tomasz
    Seweryn, Karol
    Banaszkiewicz, Marek
    Macioszek, Krystyna
    Maediger, Bernd
    Sommer, Josef
    [J]. ROBOT MOTION AND CONTROL 2011, 2012, 422 : 351 - 361
  • [4] An End-to-End Trajectory Planning Strategy for Free-floating Space Robots
    Wang, Shengjie
    Cao, Yuxue
    Zheng, Xiang
    Zhang, Tao
    [J]. 2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC), 2021, : 4236 - 4241
  • [5] MULTI-WAYPOINT-BASED PATH PLANNING FOR FREE-FLOATING SPACE ROBOTS
    Zhao, Suping
    Siciliano, Bruno
    Zhu, Zhanxia
    Gutierrez-Giles, Alejandro
    Luo, Jianjun
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2019, 34 (05): : 461 - 467
  • [6] Dynamic control of free-floating coordinated space robots
    Hu, YR
    Vukovich, G
    [J]. JOURNAL OF ROBOTIC SYSTEMS, 1998, 15 (04): : 217 - 230
  • [7] Motion planning of free-floating space robots through multi-layer optimization using the RRT* algorithm
    Faculty of Aerospace Engineering, Delft University of Technology, Kluyverweg 1, Delft
    2629 HS, Netherlands
    [J]. Acta Astronaut, (940-956):
  • [8] A Task-Space Control Law for Free-Floating Space Robots
    Isenberg, Douglas R.
    [J]. 2017 25TH INTERNATIONAL CONFERENCE ON SYSTEMS ENGINEERING (ICSENG), 2017, : 33 - 38
  • [9] On the use of free-floating space robots in the presence of angular momentum
    Kostas Nanos
    Evangelos Papadopoulos
    [J]. Intelligent Service Robotics, 2011, 4 : 3 - 15
  • [10] Adaptive control of free-floating space robots in Cartesian coordinates
    Parlaktuna, O
    Ozkan, M
    [J]. ADVANCED ROBOTICS, 2004, 18 (09) : 943 - 959
12345