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A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base

Title
A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base
Author
Sunil K.Agrawal
Keywords
Design for control; differential flatness; nonlinear programming (NLP); space robot
Issue Date
2009-09
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, v. 59, no. 9, page. 2185-2191
Abstract
The motion of a free-floating space robot is characterized by the principle of conservation of angular momentum. It is well known that these angular momentum equations are nonholonomic, i.e., are nonintegrable rate equations. If the base of the free-floating robot is partially actuated, it is difficult to determine joint trajectories that will result in point-to-point motion of the entire robot system in its configuration space. However, if the drift-less system associated with the angular momentum conservation equations is differentially flat, point-to-point maneuvers of the free-floating robot in its configuration space can be constructed by properly choosing trajectories in the differentially flat space. The primary advantages of this approach is that it avoids the use of nonlinear programming (NLP) to solve the nonintegrable rate equations, which at best can provide only approximate solutions. A currently open research problem is how to design a differentially flat space robot with under-actuated base. The contributions of this technical note are as follows: i) study systematically the structure of the nonholonomic rate constraint equations of a free-floating open-chain space robot with two momentum wheels at the base and arbitrarily oriented joint axes ii) identify a set of sufficient conditions on the inertia distribution under which the system exhibits differential flatness iii) exploit these design conditions for point-to-point trajectory planning and control of the space robot.
URI
https://ieeexplore.ieee.org/document/5200522?arnumber=5200522&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/165989
ISSN
0018-9286; 1558-2523; 2334-3303
DOI
10.1109/TAC.2009.2026836
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > MECHANICAL ENGINEERING(기계공학과) > Articles
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