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

Fumiya Matsumoto; Hiroaki Yoshimura

doi:10.1007/978-94-007-1643-8_5

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

Fumiya Matsumoto^*, Hiroaki Yoshimura

^*Corresponding author for this work

School of Fundamental Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	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
Pages	35-43
Number of pages	9
DOIs	https://doi.org/10.1007/978-94-007-1643-8_5
Publication status	Published - 2011
Event	IUTAM Symposium on Multibody Dynamics and Interaction Control in Virtual and Real Environments - Budapest, Hungary Duration: 2010 Jun 7 → 2010 Jun 11

Publication series

Name	Solid Mechanics and its Applications
Volume	30
ISSN (Print)	1875-3507

Conference

Conference	IUTAM Symposium on Multibody Dynamics and Interaction Control in Virtual and Real Environments
Country/Territory	Hungary
City	Budapest
Period	10/6/7 → 10/6/11

ASJC Scopus subject areas

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

Access to Document

10.1007/978-94-007-1643-8_5

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

Dynamics and trajectory planning of a space robot with control of the base attitude. / Matsumoto, Fumiya; Yoshimura, Hiroaki.
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. 2011. p. 35-43 (Solid Mechanics and its Applications; Vol. 30).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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. Solid Mechanics and its Applications, vol. 30, pp. 35-43, IUTAM Symposium on Multibody Dynamics and Interaction Control in Virtual and Real Environments, Budapest, Hungary, 10/6/7. https://doi.org/10.1007/978-94-007-1643-8_5

Matsumoto F, Yoshimura H. 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. 2011. p. 35-43. (Solid Mechanics and its Applications). doi: 10.1007/978-94-007-1643-8_5

Matsumoto, Fumiya ; Yoshimura, Hiroaki. / 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. 2011. pp. 35-43 (Solid Mechanics and its Applications).

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

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