On the use of free-floating space robots in the presence of angular momentum

Nanos, K; Papadopoulos, E

dc.contributor.author	Nanos, K	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:36:34Z
dc.date.available	2014-03-01T01:36:34Z
dc.date.issued	2011	en
dc.identifier.issn	18612776	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/21342
dc.subject	Free-floating space robots	en
dc.subject	Non-zero angular momentum	en
dc.subject	Nonholomic systems	en
dc.subject	Planning and control	en
dc.subject	Workspace and speed constraints	en
dc.subject.other	Free-floating space robot	en
dc.subject.other	Nonholomic systems	en
dc.subject.other	Planning and control	en
dc.subject.other	Workspace and speed constraints	en
dc.subject.other	Zero angular momentum	en
dc.subject.other	Angular momentum	en
dc.subject.other	End effectors	en
dc.subject.other	Manipulators	en
dc.subject.other	Robot programming	en
dc.title	On the use of free-floating space robots in the presence of angular momentum	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/s11370-010-0083-2	en
heal.identifier.secondary	http://dx.doi.org/10.1007/s11370-010-0083-2	en
heal.publicationDate	2011	en
heal.abstract	Free-floating space manipulator systems include at least one manipulator mounted on an unactuated spacecraft. It is known that such systems exhibit nonholonomic behavior due to angular momentum conservation. In this paper, the initial angular momentum of the system is not assumed to be zero and its influence on system behavior is studied. In contrast to the case of zero initial momentum, in the presence of momentum, the manipulator end effector in general cannot remain at a given location for indefinite time. The paper studies the conditions under which this is possible, rendering the end-effector immune to angular momentum accumulation. The relevant kinematics and dynamics are studied in 2D and 3D systems, and workspace subsets, where the end effector can remain fixed, are identified. Examples illustrate the validity of the results. © 2010 Springer-Verlag.	en
heal.journalName	Intelligent Service Robotics	en
dc.identifier.doi	10.1007/s11370-010-0083-2	en
dc.identifier.volume	4	en
dc.identifier.issue	1	en
dc.identifier.spage	3	en
dc.identifier.epage	15	en