Recent advances is space applications have necessitated the deployment of robotic systems in space. These systems have intrinsic features due to the nonholonomic constraints governing their motion. In this paper we discuss the presence of nonholonomic redundancy, as different from ordinary kinematic redundancy, in space robots. Nonholonomic redundancy can be utilized to increase the workspace of space robots. In this paper we present a path planning scheme using Ljapunov functions in hierarchy for the utilization of nonholonomic redundancy.


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    Title :

    Nonlinear control for the nonholonomic motion of space robot systems


    Additional title:

    Regelung der nicht-holonomen Bewegung von Raumfahrtrobotersystemen


    Contributors:


    Publication date :

    1991


    Size :

    23 Seiten, 6 Bilder, 22 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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