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

Fumiya Matsumoto, Hiroaki Yoshimura

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトル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
ページ35-43
ページ数9
DOI
出版物ステータスPublished - 2011 12 1
イベントIUTAM Symposium on Multibody Dynamics and Interaction Control in Virtual and Real Environments - Budapest, Hungary
継続期間: 2010 6 72010 6 11

出版物シリーズ

名前Solid Mechanics and its Applications
30
ISSN(印刷物)1875-3507

Conference

ConferenceIUTAM Symposium on Multibody Dynamics and Interaction Control in Virtual and Real Environments
Hungary
Budapest
期間10/6/710/6/11

ASJC Scopus subject areas

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

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  • これを引用

    Matsumoto, F., & Yoshimura, H. (2011). Dynamics and trajectory planning of a space robot with control of the base attitude. : 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; 巻数 30). https://doi.org/10.1007/978-94-007-1643-8_5