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

1 Citation (Scopus)

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
EditorsAndras Toth, Gabor Stepan, Laszlo L. Kovacs
PublisherSpringer Verlag
Pages35-43
Number of pages9
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

ASJC Scopus subject areas

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

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