Point-to-point planning: Methodologies for underactuated space robots

Tortopidis, I; Papadopoulos, E

dc.contributor.author	Tortopidis, I	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:44:09Z
dc.date.available	2014-03-01T02:44:09Z
dc.date.issued	2006	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31714
dc.subject	Nonholonomic planning	en
dc.subject	Space free-floating robots	en
dc.subject	Underactuated	en
dc.subject.other	Actuators	en
dc.subject.other	Angle measurement	en
dc.subject.other	Boundary conditions	en
dc.subject.other	Motion planning	en
dc.subject.other	Numerical analysis	en
dc.subject.other	Problem solving	en
dc.subject.other	Redundant manipulators	en
dc.subject.other	Rotation	en
dc.subject.other	Angular momentum	en
dc.subject.other	Nonholonomic planning	en
dc.subject.other	Space free floating robots	en
dc.subject.other	Space robots	en
dc.subject.other	Robotic assembly	en
dc.title	Point-to-point planning: Methodologies for underactuated space robots	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2006.1642293	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2006.1642293	en
heal.identifier.secondary	1642293	en
heal.publicationDate	2006	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. Physical limitations, imposed by system's dynamic parameters, are examined. Lower and upper bounds for base rotation, due to manipulator motions, are estimated. An analytical path planning method is briefly presented and appended by a technique which extends drastically the accessibility of final configurations and simplifies the free parameters selection. Based on this extension, a numerical approach is also derived and examples are given. The presented methodologies avoid the need for many small cyclical motions, and use smooth functions in the planning scheme, leading to smooth configuration changes in finite and prescribed time. © 2006 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2006.1642293	en
dc.identifier.volume	2006	en
dc.identifier.spage	3861	en
dc.identifier.epage	3866	en