Nonholonomic path planning of space robots via a bidirectional approach

Author

Nakamura, Yoshihiko ; Mukherjee, Ranjan

Author_Institution

Dept. of Mech.-Inf., Tokyo Univ., Japan

Volume

7

Issue

4

fYear

1991

fDate

8/1/1991 12:00:00 AM

Firstpage

500

Lastpage

514

Abstract

The path planning of nonholonomic motion of space robot systems is discussed. A space vehicle with a 6-DOF (degrees of freedom) 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 in addition to the joint variables of the manipulator can be controlled by actuating only the joint variables. The nonholonomic mechanical structure of space robot systems is shown. A rigorous mathematical proof of the nonholonomic nature of the free-flying space robot systems is provided using Frobenius´s theorem. A method for nonholonomic motion planning for space robot systems is established by using a Lyapunov function

Keywords

aerospace control; planning (artificial intelligence); robots; 6-DOF; Frobenius´s theorem; Lyapunov function; bidirectional approach; nonholonomic motion; path planning; space robots; space vehicle; vehicle orientation; Earth; Jacobian matrices; Manipulator dynamics; Orbital robotics; Path planning; Robot kinematics; Robotics and automation; Space missions; Space vehicles; Vehicle dynamics;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.86080

Filename

86080