TY - GEN
T1 - Dynamics and trajectory planning of a space robot with control of the base attitude
AU - Matsumoto, Fumiya
AU - Yoshimura, Hiroaki
N1 - Funding Information:
Acknowledgements. We thank Jerrold E. Marsden for helpful discussions on geometric mechanics and control. This research is partially supported by Grant-in-Aid for Scientific Research in JSPS (C)1650216, JST-CREST and Waseda University Grant for Special Research Projects 2010A-606.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:85032688952
SN - 9789400716421
T3 - IUTAM Bookseries
SP - 35
EP - 43
BT - 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
A2 - Toth, Andras
A2 - Stepan, Gabor
A2 - Kovacs, Laszlo L.
PB - Springer Verlag
T2 - IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, 2010
Y2 - 7 June 2010 through 11 June 2010
ER -