Path Planning For Space Manipulators Exhibiting Nonholonomic Behavior

Papadopoulos, E

dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:48:06Z
dc.date.available	2014-03-01T02:48:06Z
dc.date.issued	1992	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33535
dc.subject	Kinematics and Dynamics	en
dc.subject	Path Dependence	en
dc.subject	Path Planning	en
dc.subject	Angular Momentum	en
dc.title	Path Planning For Space Manipulators Exhibiting Nonholonomic Behavior	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.1992.587419	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.1992.587419	en
heal.publicationDate	1992	en
heal.abstract	Nonholonomic behavior is observed in free-floating manipulator systems, and is due to the nonintegrability of the angular momentum. Free-floating manipulators exhibit dynamic singularities which cannot be predicted by the kinematic properties of the system and whose location in the workspace is path dependent. Trouble-free Path Independent Workspaces are defined. A joint space planning technique used to control the orientation of	en
heal.journalName	International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IROS.1992.587419	en