Paper Info
Title
Coordinate-Free Jacobian Motion Planning: A 3-D Space Robot
Abstract
We address the motion planning problem for a robotic system whose configuration manifold contains a group of rotations. Our approach is applied to a free-floating space robot composed of a three-dimensional base (a spacecraft) and an anthropomorphic onboard manipulator. The robot is actuated by the torques exerted at the joints of the onboard manipulator. A coordinate-free representation of rotations is utilized. The Lagrangian formalism is employed in order to derive a dynamics model of the robot that takes the form of a control system defined on the group of rotations and the joint space of the onboard manipulator. Using the conservation of angular momentum of the robot, a Jacobian motion planning algorithm is designed relying on the Endogenous Configuration Space Approach. The performance of the algorithm is verified by computer simulations.
Year
DOI
Venue
2022
10.1109/TSMC.2021.3125276
IEEE Transactions on Systems, Man, and Cybernetics: Systems
Keywords
DocType
Volume
Free-floating space robot,motion planning,nonlinear systems,robotics
Journal
52
Issue
ISSN
Citations 
8
2168-2216
0
PageRank 
References 
Authors
0.34
6
2
Name
Order
Citations
PageRank
Joanna Ratajczak153.10
Krzysztof Tchon25213.93