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On Cartesian motions with singularities avoidance for free-floating space robots

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dc.contributor.author Nanos, K en
dc.contributor.author Papadopoulos, E en
dc.date.accessioned 2014-03-01T02:53:58Z
dc.date.available 2014-03-01T02:53:58Z
dc.date.issued 2012 en
dc.identifier.issn 10504729 en
dc.identifier.uri http://hdl.handle.net/123456789/36506
dc.subject.other Angular momentum conservation en
dc.subject.other Cartesian motion en
dc.subject.other Cartesian Space en
dc.subject.other Dynamic singularities en
dc.subject.other Free-floating space manipulator en
dc.subject.other Free-floating space robot en
dc.subject.other Nonholonomics en
dc.subject.other Path planning techniques en
dc.subject.other Singular configurations en
dc.subject.other Singularities avoidance en
dc.subject.other System configurations en
dc.subject.other Robotics en
dc.subject.other Motion planning en
dc.title On Cartesian motions with singularities avoidance for free-floating space robots en
heal.type conferenceItem en
heal.identifier.primary 10.1109/ICRA.2012.6224695 en
heal.identifier.secondary http://dx.doi.org/10.1109/ICRA.2012.6224695 en
heal.identifier.secondary 6224695 en
heal.publicationDate 2012 en
heal.abstract Free-floating space manipulator systems have spacecraft actuators turned off and exhibit nonholonomic behavior due to angular momentum conservation. Such systems are subject to path dependent Dynamic Singularities (DS) that complicate their path planning. Due to the existence of DS its workspace is restricted. The Cartesian space path planning of free-floating space robots is studied and a novel path planning technique allowing the end-effector to follow a desired path avoiding any DS is proposed. Since the path is predefined, the method yields the appropriate initial system configurations that avoid dynamically singular configurations during the motion. Therefore, it allows effective use of the entire robot workspace. The proposed method is applicable to both planar and spatial systems and it is demonstrated using straight-line paths. The application of the method is illustrated by two examples. © 2012 IEEE. en
heal.journalName Proceedings - IEEE International Conference on Robotics and Automation en
dc.identifier.doi 10.1109/ICRA.2012.6224695 en
dc.identifier.spage 5398 en
dc.identifier.epage 5403 en


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