Paper Info
Title
Planar space robots with coupled joints: differentially flat designs
Abstract
The motion of free-floating space robots is characterized by nonholonomic, i.e., non-integrable rate constraint equations. These constraints originate from principles of conservation of linear and angular momentum. Trajectory planning of these systems is extremely challenging and computation intensive since the motion must satisfy differential constraints. However, under certain conditions, these drift-less control systems can be shown to be differentially flat. The property of flatness allows a computationally inexpensive way to plan trajectories for the dynamic system between two configurations as well as develop feedback controllers. In this paper, nonholonomic rate constraints for free-floating planar open-chain robots are studied together with auxiliary joint variable constraints to determine design conditions under which the system exhibits differential flatness. Sufficient conditions are derived for existence of flatness and are illustrated by examples.
Year
DOI
Venue
2004
10.1109/ROBOT.2004.1308136
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference
Keywords
Field
DocType
aerospace robotics,angular momentum,feedback,linear momentum,mobile robots,nonlinear dynamical systems,path planning,position control,telerobotics,angular momentum,coupled joints,differential constraints,differentially flat designs,driftless control systems,dynamic system,feedback controllers,free floating planar open chain robots,free floating space robots,linear momentum,nonholonomic rate constraints,nonintegrable rate constraint equations,planar space robots,sufficient conditions,trajectory planning
Motion planning,Flatness (systems theory),Robotic spacecraft,Control theory,Control engineering,Control system,Nonholonomic system,Robot,Mathematics,Mobile robot,Computation
Conference
Volume
ISSN
ISBN
2
1050-4729
0-7803-8232-3
Citations 
PageRank 
References 
0
0.34
3
Authors
2
Name
Order
Citations
PageRank
Jaume Franch116915.92
Sunil K. Agrawal226957.02