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Point-to-Point Planning: Methodologies for Underactuated Space Robots
参考中译:点对点规划：欠驱动空间机器人的方法

作者：	Ioannis Tortopidis Evangelos Papadopoulos
会议名：	2006 IEEE International Conference on Robotics and Automation (ICRA), vol.9
会议日期：	15-19 May, 2006
会议地点：	Orlando, Florida, USA
出版年：	2006
ISBN：	0-7803-9505-0
页码：	3861-3866
总页数：	6
馆藏号：	284218
分类号：	TP241-53/I59/(2006-v.9)
关键词：	Space free-floating robots；Underactuated；Nonholonomic planning
参考中译：	空间自由漂浮机器人；欠驱动；非完整规划
语种：	eng
文摘：	In free-floating mode, space manipulator systems have their actuators turned off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactuated and a challenging problem is to control both the location of the end effector and the attitude of the base, using manipulator actuators only. Physical limitations, imposed by system's dynamic parameters, are examined. Lower and upper bounds for base rotation, due to manipulator motions, are estimated. An analytical path planning method is briefly presented and appended by a technique which extends drastically the accessibility of final configurations and simplifies the free parameters selection. Based on this extension, a numerical approach is also derived and examples are given. The presented methodologies avoid the need for many small cyclical motions, and use smooth functions in the planning scheme, leading to smooth configuration changes in finite and prescribed time.

注：参考中译为机器自动翻译，仅供参考。