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
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;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220183
