Coordinated Manipulator and Spacecraft Motion Planning for Free-Floating Space Robots

摘要：

This paper studies the coordinated manipulator and spacecraft motion planning for free-floating space robots (FFSR). The kinematics of the FFSR is analyzed based on momentum conservation law firstly. Then a nonholonomic motion planning, including requirements on spacecrafts orientation and end-effectors position is proposed using the chained form transformation and time-state control form. A planar FFSR with a 2 DOFs manipulator is selected to develop the algorithm. And simulation results illustrate that the position of the end-effector and the spacecraft orientation reach the desired state simultaneously. Finally, deficiencies of the method and prospects for the future are summarized.

作者: Haitao SHUI Shengjun PENG Xun LI Hongxu MA

作者单位: College of Electromechanical Engineering Automation,National University of Defense Technology,Changsha Hunan,410073,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 371-375

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）