On Cartesian motions with singularities avoidance for free-floating space robots

Nanos, K; Papadopoulos, E

dc.contributor.author	Nanos, K	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:53:58Z
dc.date.available	2014-03-01T02:53:58Z
dc.date.issued	2012	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/36506
dc.subject.other	Angular momentum conservation	en
dc.subject.other	Cartesian motion	en
dc.subject.other	Cartesian Space	en
dc.subject.other	Dynamic singularities	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	Path planning techniques	en
dc.subject.other	Singular configurations	en
dc.subject.other	Singularities avoidance	en
dc.subject.other	System configurations	en
dc.subject.other	Robotics	en
dc.subject.other	Motion planning	en
dc.title	On Cartesian motions with singularities avoidance for free-floating space robots	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ICRA.2012.6224695	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ICRA.2012.6224695	en
heal.identifier.secondary	6224695	en
heal.publicationDate	2012	en
heal.abstract	Free-floating space manipulator systems have spacecraft actuators turned off and exhibit nonholonomic behavior due to angular momentum conservation. Such systems are subject to path dependent Dynamic Singularities (DS) that complicate their path planning. Due to the existence of DS its workspace is restricted. The Cartesian space path planning of free-floating space robots is studied and a novel path planning technique allowing the end-effector to follow a desired path avoiding any DS is proposed. Since the path is predefined, the method yields the appropriate initial system configurations that avoid dynamically singular configurations during the motion. Therefore, it allows effective use of the entire robot workspace. The proposed method is applicable to both planar and spatial systems and it is demonstrated using straight-line paths. The application of the method is illustrated by two examples. © 2012 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ICRA.2012.6224695	en
dc.identifier.spage	5398	en
dc.identifier.epage	5403	en