Exploiting nonholonomic redundancy of free-flying space robots

Journal Article · Sun Aug 01 00:00:00 EDT 1993 · IEEE Transactions on Robotics and Automation

DOI:https://doi.org/10.1109/70.246062· OSTI ID:142467

Nakamura, Yoshihiko ^[1]; Mukherjee, Ranjan ^[2]

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1. Univ. of Tokyo (Japan). Dept. of Mechano-Informatics
2. Naval Postgraduate School, Monterey, CA (United States). Mechanical Engineering Dept.

Nonholonomic redundancy is an intrinsic property of nonholonomic mechanical systems. A free-flying space robot is a nonholonomic mechanical system, and exhibits the presence of nonholonomic redundancy even in the absence of ordinary kinematic redundancy. Like ordinary kinematic redundancy, nonholonomic redundancy can also be utilized while planning trajectories for the system. In the paper, a trajectory planning scheme for a 6-DOF space robot is developed in which nonholonomic redundancy for avoiding joint limits and obstacles are utilized.

• OSTI ID: 142467
• Journal Information: IEEE Transactions on Robotics and Automation, Vol. 9, Issue 4; Other Information: PBD: Aug 1993
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES
MANIPULATORS
TRAJECTORIES
ROBOTS
KINETICS
SPACE VEHICLES
FUEL CONSUMPTION