On point-to-point motion planning for underactuated space manipulator systems
参考中译:欠驱动空间机械手系统的点到点运动规划


          

刊名：Robotics and Autonomous Systems
作者：Ioannis Tortopidis
Evangelos Papadopoulos
刊号：737LB056
ISSN：0921-8890
出版年：2007
年卷期：2007, vol.55, no.2
页码：122-131
总页数：10
分类号：TP24
关键词：Space free-floating robots；Underactuated；Nonholonomic planning；Pfaffian
参考中译：空间自由漂浮机器人；欠驱动；非完整规划；Pfaffian
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. Here a path planning methodology satisfying this requirement is developed. The method uses high order polynomials, as arguments in cosine functions, to specify the desired path directly in joint-space. In this way, the accessibility of final configurations is extended drastically, and the free parameters are determined by optimization techniques. It was found that this approach leads always to a path, provided that the desired change in configuration lies between physically permissible limits. Physical limitations, imposed by system's dynamic parameters, are examined. Lower and upper bounds for base rotation, due to manipulator motions, are estimated and shown in the implementation section. The presented method avoids the need for many small cyclical motions, and uses smooth functions in the planning scheme, leading to smooth configuration changes in finite and prescribed time.



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