Trajectory Planning For Space Manipulators
NAVAL POSTGRADUATE SCHOOL MONTEREY CA
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The angular momentum of a free-flying multibody system in space is a conserved quantity. This conservation law acts as a nonholonomic constraint and manifests itself when cyclic motion of the articulated joints of an on board manipulator produces a net change in the orientation of the whole system. This poses two important and coupled problems a the motion planning problem of the manipulator for attitude reorientation of the space structure using internal motion of the joints, and b planning the manipulator joint trajectories that produce repeatable motion of all the configuration variables. We have adopted a surface integral approach to come up with algorithms for these nonholonomic motion planning problems. Satellite attitude control, Non-holonomic motion planning, Linked multi-bodied space structures.
- Spacecraft Trajectories and Reentry