The nonholonomic path planning of space robot systems is discussed. A space vehicle with a 6-DOF (degree of freedom) manipulator is described as a nine-variable system with six inputs. Utilizing the nonholonomic nature, the vehicle orientation can be controlled in addition to the joint variables of the manipulator by actuating only the joint variables, if the trajectory is carefully planned. A path-planning method of nonholonomic motion is developed using a Lyapunov function.
Nonholonomic path planning of space robots via bi-directional approach
Nicht holonome Wegplanung von Robotern in der Raumfahrt mit Hilfe bidirektionaler Verfahren
1990
6 Seiten, 15 Quellen
Aufsatz (Konferenz)
Englisch
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