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.
Nonlinear control for the nonholonomic motion of space robot systems
Regelung der nicht-holonomen Bewegung von Raumfahrtrobotersystemen
Advanced Robot Control, International Workshop on Nonlinear and Adaptive Control: Issues in Robotics ; 83-105
1991
23 Seiten, 6 Bilder, 22 Quellen
Conference paper
English
Spiral motion of nonholonomic space robots
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