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	2014-03-01T02:46:54Z
dc.date.available	2014-03-01T02:46:54Z
dc.date.issued	2010	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32925
dc.subject	Kinematics and Dynamics	en
dc.subject	Space Robotics	en
dc.subject	Angular Momentum	en
dc.subject	Turn Off	en
dc.subject.other	Angular momentum conservation	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	Reachable workspace	en
dc.subject.other	Space robots	en
dc.subject.other	System kinematics	en
dc.subject.other	Angular momentum	en
dc.subject.other	Asymptotic analysis	en
dc.subject.other	End effectors	en
dc.subject.other	Manipulators	en
dc.subject.other	Mechatronics	en
dc.subject.other	Intelligent mechatronics	en
dc.title	On the use of free-floating space robots in the presence of angular momentum	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/AIM.2010.5695904	en
heal.identifier.secondary	http://dx.doi.org/10.1109/AIM.2010.5695904	en
heal.identifier.secondary	5695904	en
heal.publicationDate	2010	en
heal.abstract	Free-floating space manipulator systems, have their thrusters turned off and exhibit nonholonomic behavior due to angular momentum conservation. Here, the initial system angular momentum is not assumed to be zero and therefore the manipulator end effector cannot remain in a position for indefinite time. The system kinematics and dynamics constraints are studied yielding a subset of a system's reachable workspace where the end effector can remain indefinitely. The application of the methodology is illustrated using an example. To demonstrate the concept, an experimental space robot simulator was developed and its mechatronics aspects are presented briefly. © 2010 IEEE.	en
heal.journalName	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM	en
dc.identifier.doi	10.1109/AIM.2010.5695904	en
dc.identifier.spage	1287	en
dc.identifier.epage	1292	en