HEAL DSpace

Path Planning For Space Manipulators Exhibiting Nonholonomic Behavior

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dc.contributor.author Papadopoulos, E en
dc.date.accessioned 2014-03-01T02:48:06Z
dc.date.available 2014-03-01T02:48:06Z
dc.date.issued 1992 en
dc.identifier.uri http://hdl.handle.net/123456789/33535
dc.subject Kinematics and Dynamics en
dc.subject Path Dependence en
dc.subject Path Planning en
dc.subject Angular Momentum en
dc.title Path Planning For Space Manipulators Exhibiting Nonholonomic Behavior en
heal.type conferenceItem en
heal.identifier.primary 10.1109/IROS.1992.587419 en
heal.identifier.secondary http://dx.doi.org/10.1109/IROS.1992.587419 en
heal.publicationDate 1992 en
heal.abstract Nonholonomic behavior is observed in free-floating manipulator systems, and is due to the nonintegrability of the angular momentum. Free-floating manipulators exhibit dynamic singularities which cannot be predicted by the kinematic properties of the system and whose location in the workspace is path dependent. Trouble-free Path Independent Workspaces are defined. A joint space planning technique used to control the orientation of en
heal.journalName International Conference on Intelligent Robots and Systems en
dc.identifier.doi 10.1109/IROS.1992.587419 en


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