Smooth planning for free-floating space robots using polynomials

Papadopoulos, E; Tortopidis, I; Nanos, K

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Tortopidis, I	en
dc.contributor.author	Nanos, K	en
dc.date.accessioned	2014-03-01T02:43:33Z
dc.date.available	2014-03-01T02:43:33Z
dc.date.issued	2005	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31466
dc.subject	Nonholonomic planning	en
dc.subject	Space free-floating robots	en
dc.subject	Underactuated systems	en
dc.subject.other	Actuators	en
dc.subject.other	Manipulators	en
dc.subject.other	Motion planning	en
dc.subject.other	Polynomials	en
dc.subject.other	Space research	en
dc.subject.other	Spacecraft	en
dc.subject.other	Cyclical motions	en
dc.subject.other	Nonholonomic planning	en
dc.subject.other	Space free floating robots	en
dc.subject.other	Underactuated systems	en
dc.subject.other	Mobile robots	en
dc.title	Smooth planning for free-floating space robots using polynomials	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2005.1570777	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2005.1570777	en
heal.identifier.secondary	1570777	en
heal.publicationDate	2005	en
heal.abstract	Free-floating space manipulator systems, have spacecraft actuators turned off and exhibit nonholonomic behavior due to angular momentum conservation. A path planning methodology for planar free-floating space manipulator systems is developed that allows simultaneous manipulator end-point and spacecraft attitude control using manipulator actuators only. The method is based on mapping the angular momentum to a space where it can be satisfied trivially. Smooth and continuous functions such as polynomials are employed driving the system to a desired configuration. It is shown that the method allows for smooth configuration changes in finite and prescribed time, without requiring small cyclical motions. Limitations are discussed and examples are presented. © 2005 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2005.1570777	en
dc.identifier.volume	2005	en
dc.identifier.spage	4272	en
dc.identifier.epage	4277	en