Lagrangian Jacobian motion planning with application to a free-floating space manipulator

被引：0
|
作者：
Ratajczak, Joanna [1 ]
Tchon, Krzysztof [1 ]
机构：
[1] Wroclaw Univ Sci & Technol, Dept Cybernet & Robot, PL-50370 Wroclaw, Poland
来源：
2019 12TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO '19) | 2019年
关键词：
NORMAL FORMS;
D O I：
10.1109/romoco.2019.8787384
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an application of the Lagrangian Jacobian motion planning algorithm to non-holonomic robotic systems subordinated to affine Pfaffian constraints. A specific form of the algorithm, minimizing the energy of the trajectory variations, is applied to free-floating space manipulators equipped with 3 or 4 DOF on-board manipulator, and compared with the Jacobian pseudoinverse algorithm. To make the motion planning problem tractable the dynamics model of the space manipulator is transformed by feedback to a prenormal form. Results of computer simulations show potential advantages of this Lagrangian Jacobian motion planning for applications in Space robotics.
引用
收藏
页码：166 / 171
页数：6
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