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.


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    Title :

    Nonholonomic path planning of space robots via bi-directional approach


    Additional title:

    Nicht holonome Wegplanung von Robotern in der Raumfahrt mit Hilfe bidirektionaler Verfahren


    Contributors:


    Publication date :

    1990


    Size :

    6 Seiten, 15 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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