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 Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments - Proceedings of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments
    PublisherSpringer Verlag
    Pages35-43
    Number of pages9
    Volume30
    ISBN (Print)9789400716421
    Publication statusPublished - 2011
    EventIUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, 2010 - Budapest, Hungary
    Duration: 2010 Jun 72010 Jun 11

    Publication series

    NameIUTAM Bookseries
    Volume30
    ISSN (Print)1875-3507

    Other

    OtherIUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, 2010
    CountryHungary
    CityBudapest
    Period10/6/710/6/11

    Fingerprint

    End effectors
    Trajectories
    Robots
    Planning
    Geometry
    Computer simulation

    ASJC Scopus subject areas

    • Materials Science(all)
    • Mechanics of Materials
    • Mechanical Engineering

    Cite this

    Matsumoto, F., & Yoshimura, H. (2011). Dynamics and trajectory planning of a space robot with control of the base attitude. In IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments - Proceedings of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments (Vol. 30, pp. 35-43). (IUTAM Bookseries; Vol. 30). Springer Verlag.

    Dynamics and trajectory planning of a space robot with control of the base attitude. / Matsumoto, Fumiya; Yoshimura, Hiroaki.

    IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments - Proceedings of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments. Vol. 30 Springer Verlag, 2011. p. 35-43 (IUTAM Bookseries; Vol. 30).

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

    Matsumoto, F & Yoshimura, H 2011, Dynamics and trajectory planning of a space robot with control of the base attitude. in IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments - Proceedings of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments. vol. 30, IUTAM Bookseries, vol. 30, Springer Verlag, pp. 35-43, IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, 2010, Budapest, Hungary, 10/6/7.
    Matsumoto F, Yoshimura H. Dynamics and trajectory planning of a space robot with control of the base attitude. In IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments - Proceedings of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments. Vol. 30. Springer Verlag. 2011. p. 35-43. (IUTAM Bookseries).
    Matsumoto, Fumiya ; Yoshimura, Hiroaki. / Dynamics and trajectory planning of a space robot with control of the base attitude. IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments - Proceedings of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments. Vol. 30 Springer Verlag, 2011. pp. 35-43 (IUTAM Bookseries).
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