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On point-to-point motion planning for underactuated space manipulator systems

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dc.contributor.author Tortopidis, I en
dc.contributor.author Papadopoulos, E en
dc.date.accessioned 2014-03-01T01:26:45Z
dc.date.available 2014-03-01T01:26:45Z
dc.date.issued 2007 en
dc.identifier.issn 0921-8890 en
dc.identifier.uri http://hdl.handle.net/123456789/18217
dc.subject Nonholonomic planning en
dc.subject Pfaffian en
dc.subject Space free-floating robots en
dc.subject Underactuated en
dc.subject.classification Automation & Control Systems en
dc.subject.classification Computer Science, Artificial Intelligence en
dc.subject.classification Robotics en
dc.subject.other Cosine transforms en
dc.subject.other End effectors en
dc.subject.other Functions en
dc.subject.other Manipulators en
dc.subject.other Mobile robots en
dc.subject.other Optimization en
dc.subject.other Problem solving en
dc.subject.other Nonholonomic planning en
dc.subject.other Pfaffian en
dc.subject.other Space free-floating robots en
dc.subject.other Underactuated en
dc.subject.other Motion planning en
dc.title On point-to-point motion planning for underactuated space manipulator systems en
heal.type journalArticle en
heal.identifier.primary 10.1016/j.robot.2006.07.003 en
heal.identifier.secondary http://dx.doi.org/10.1016/j.robot.2006.07.003 en
heal.language English en
heal.publicationDate 2007 en
heal.abstract In free-floating mode, space manipulator systems have their actuators turned off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactuated and a challenging problem is to control both the location of the end effector and the attitude of the base, using manipulator actuators only. Here a path planning methodology satisfying this requirement is developed. The method uses high order polynomials, as arguments in cosine functions, to specify the desired path directly in joint-space. In this way, the accessibility of final configurations is extended drastically, and the free parameters are determined by optimization techniques. It was found that this approach leads always to a path, provided that the desired change in configuration lies between physically permissible limits. Physical limitations, imposed by system's dynamic parameters, are examined. Lower and upper bounds for base rotation, due to manipulator motions, are estimated and shown in the implementation section. The presented method avoids the need for many small cyclical motions, and uses smooth functions in the planning scheme, leading to smooth configuration changes in finite and prescribed time. (c) 2006 Elsevier B.V. All rights reserved. en
heal.publisher ELSEVIER SCIENCE BV en
heal.journalName Robotics and Autonomous Systems en
dc.identifier.doi 10.1016/j.robot.2006.07.003 en
dc.identifier.isi ISI:000244286300004 en
dc.identifier.volume 55 en
dc.identifier.issue 2 en
dc.identifier.spage 122 en
dc.identifier.epage 131 en


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