Paper Info
Title
Lagrangian Jacobian motion planning with application to a free-floating space manipulator
Abstract
This paper presents an application of the Lagrangian Jacobian motion planning algorithm to non-holonomic robotic systems subordinated to affine Pfaffian constraints. A specific form of the algorithm, minimizing the energy of the trajectory variations, is applied to free-floating space manipulators equipped with 3 or 4 DOF on-board manipulator, and compared with the Jacobian pseudoinverse algorithm. To make the motion planning problem tractable the dynamics model of the space manipulator is transformed by feedback to a pre-normal form. Results of computer simulations show potential advantages of this Lagrangian Jacobian motion planning for applications in Space robotics.
Year
DOI
Venue
2019
10.1109/RoMoCo.2019.8787384
2019 12th International Workshop on Robot Motion and Control (RoMoCo)
Keywords
Field
DocType
4 DOF on-board manipulator,Jacobian pseudoinverse algorithm,free-floating space manipulator,Lagrangian Jacobian motion planning algorithm,nonholonomic robotic systems,space robotics,Pfaffian constraints
Motion planning,Affine transformation,Lagrangian,Jacobian matrix and determinant,Control theory,Computer science,Robot kinematics,Moore–Penrose pseudoinverse,Pfaffian,Trajectory
Conference
ISSN
ISBN
Citations 
2575-5536
978-1-7281-2976-1
0
PageRank 
References 
Authors
0.34
4
2
Name
Order
Citations
PageRank
Joanna Ratajczak153.10
Krzysztof Tchon25213.93