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 publicationIUTAM Symp. on Dynamics Modeling and Interaction Control in Virtual and Real Environments - Proc. of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments
Pages35-43
Number of pages9
DOIs
Publication statusPublished - 2011 Dec 1
EventIUTAM Symposium on Multibody Dynamics and Interaction Control in Virtual and Real Environments - Budapest, Hungary
Duration: 2010 Jun 72010 Jun 11

Publication series

NameSolid Mechanics and its Applications
Volume30
ISSN (Print)1875-3507

Conference

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

ASJC Scopus subject areas

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

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  • Cite this

    Matsumoto, F., & Yoshimura, H. (2011). Dynamics and trajectory planning of a space robot with control of the base attitude. In IUTAM Symp. on Dynamics Modeling and Interaction Control in Virtual and Real Environments - Proc. of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments (pp. 35-43). (Solid Mechanics and its Applications; Vol. 30). https://doi.org/10.1007/978-94-007-1643-8_5