Exploiting nonholonomic redundancy of free-flying space robots
Journal Article
·
· IEEE Transactions on Robotics and Automation
- Univ. of Tokyo (Japan). Dept. of Mechano-Informatics
- 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, Journal Name: IEEE Transactions on Robotics and Automation Journal Issue: 4 Vol. 9; ISSN 1042-296X; ISSN IRAUEZ
- Country of Publication:
- United States
- Language:
- English
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