Dynamics and trajectory planning of a space robot with control of the base attitude

Fumiya Matsumoto, Hiroaki Yoshimura

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This paper develops a trajectory planning for a space robot, which enables us to simultaneously control its base attitude as well as the end effector trajectory. First, it is shown how the space robot dynamics can be formulated in the context of regular Lagrangian systems with holonomic constraints. Second, geometry of the space robot motion is explored; namely, it is shown how geometric phases corresponding to deviations of the base attitude are yielded in conjunction with the end effector motion. In our trajectory planning, it is demonstrated how the base attitude of the space robot can be controlled by the end effector in iteratively drawing complementary circles to reduce the geometric phase. Finally, we demonstrate the validity of our approach with numerical simulations.

    Original languageEnglish
    Title of host publicationSolid Mechanics and its Applications
    Pages35-43
    Number of pages9
    Volume30
    DOIs
    Publication statusPublished - 2011
    EventIUTAM Symposium on Multibody Dynamics and Interaction Control in Virtual and Real Environments - Budapest
    Duration: 2010 Jun 72010 Jun 11

    Publication series

    NameSolid Mechanics and its Applications
    Volume30
    ISSN (Print)18753507

    Other

    OtherIUTAM Symposium on Multibody Dynamics and Interaction Control in Virtual and Real Environments
    CityBudapest
    Period10/6/710/6/11

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    ASJC Scopus subject areas

    • Aerospace Engineering
    • Automotive Engineering
    • Civil and Structural Engineering
    • Mechanical Engineering
    • Acoustics and Ultrasonics

    Cite this

    Matsumoto, F., & Yoshimura, H. (2011). Dynamics and trajectory planning of a space robot with control of the base attitude. In Solid Mechanics and its Applications (Vol. 30, pp. 35-43). (Solid Mechanics and its Applications; Vol. 30). https://doi.org/10.1007/978-94-007-1643-8_5