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

Tortopidis, I; Papadopoulos, E

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	https://dspace.lib.ntua.gr/xmlui/handle/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