Title :
Nonholonomic path planning of space robots via bi-directional approach
Author :
Nakamura, Yoshihiko ; Mukherjee, Ranjan
Author_Institution :
Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
Abstract :
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
Keywords :
Lyapunov methods; aerospace control; planning (artificial intelligence); robots; Lyapunov function; aerospace control; bidirectional approach; joint variables; manipulator; nonholonomic path planning; space robots; Bidirectional control; Equations; Kinematics; Lyapunov method; Manipulator dynamics; Orbital robotics; Path planning; Space missions; Space vehicles; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126264
