Abstract
A free-flying space vehicle with manipulators is conceived to perform various tasks for construction and maintenance of space structures. Such a space robot system has different kinematic and dynamic features from those on the earth. The nonhohnomic mechanical structure is one such feature. This paper discusses the path planning of nonholonomic motion of space robot systems. A space vehicle with a 6-DOF manipulator is described as a nine variable system with six inputs. It is shown that by carefully utilizing the nonholonomic mechanical structure, the vehicle orientation can be controlled in addition to the joint variables of the manipulator by actuating only the joint variables. In this paper, first, the nonholonomic mechanical structure of space robot systems is shown. Next, a mathematical proof of the nonholonomic mechanical structure is given. A method for the nonholonomic motion planning is then developed by using a Liapunov function.
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© 1993 Springer Science+Business Media New York
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Nakamura, Y., Mukherjee, R. (1993). Nonholonomic Motion Planning of Free-Flying Space Robots Via a Bi-Directional Approach. In: Xu, Y., Kanade, T. (eds) Space Robotics: Dynamics and Control. The Kluwer International Series in Engineering and Computer Science, vol 188. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3588-1_5
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DOI: https://doi.org/10.1007/978-1-4615-3588-1_5
Publisher Name: Springer, Boston, MA
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