DocumentCode :
3606452
Title :
Avoiding dynamic singularities in Cartesian motions of free-floating manipulators
Author :
Nanos, Kostas ; Papadopoulos, Evangelos
Author_Institution :
Nat. Tech. Univ. of Athens Athens, Athens, Greece
Volume :
51
Issue :
3
fYear :
2015
fDate :
7/1/2015 12:00:00 AM
Firstpage :
2305
Lastpage :
2318
Abstract :
Free-floating manipulators are subject to dynamic singularities that complicate their Cartesian motions and restrict their workspace. In this work, the Cartesian trajectory planning of free-floating manipulators is studied. A methodology is developed in which, for given end-effector trajectories, appropriate initial system configurations are found that result in singularity avoidance during end-effector motion. The method applies to both planar and spatial systems, with and without initial angular momentum, and to any desired end-effector position and attitude trajectories.
Keywords :
attitude control; manipulators; motion control; position control; trajectory control; Cartesian motion; Cartesian trajectory planning; attitude trajectory; end-effector position; end-effector trajectory; free-floating manipulator; initial angular momentum; singularity avoidance; Decision support systems; Dynamics; Joints; Manipulator dynamics; Planning; Space vehicles;
fLanguage :
English
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9251
Type :
jour
DOI :
10.1109/TAES.2015.140343
Filename :
7272870
Link To Document :
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