DocumentCode
3179874
Title
Attitude control of space platform/manipulator system using internal motion
Author
Fernandes, C. ; Gurvits, L. ; Li, Z.X.
Author_Institution
Robotics Res. Lab., Courant Inst. of Math. Sci., New York, NY, USA
fYear
1992
fDate
12-14 May 1992
Firstpage
893
Abstract
The authors formulate the dynamic equations of a system consisting of a 3-degree-of-freedom Puma-like manipulator attached to a space platform (e.g. a space station or a satellite) as an NMP (nonholonomic motion planning) problem and discuss controllability of the system. They describe the application of a simple algorithm for obtaining approximate optimal solutions. They conclude with results of a simulation experiment
Keywords
aerospace control; attitude control; controllability; manipulators; planning (artificial intelligence); 3-degree-of-freedom Puma-like manipulator; approximate optimal solutions; controllability; dynamic equations; internal motion; nonholonomic motion planning; simulation experiment; space platform/manipulator system; Controllability; Equations; Fasteners; Fuels; Laboratories; Manipulator dynamics; Orbital robotics; Satellites; Solar energy; Space stations;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.220183
Filename
220183
Link To Document