Publication:
Trajectory planning for space manipulators

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Authors
Zurowski, Mary M.
Subjects
Satellite attitude control
Non-holonomic motion planning
Linked multi-bodied space structures.
Advisors
Mukherjee, Ranjan
Date of Issue
1993-12
Date
December 1993
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
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. .
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Other Units
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
67 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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