Exploiting nonholonomic redundancy of free-flying space robots
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Nonholonomic redundancy is an intrinsic property of nonholonomic mechanical systems. A free-flying space robot is a nonholonomic mechanical system, and exhibits the presence of nonholonomic redundancy even in the absence of ordinary kinematic redundancy. Like ordinary kinematic redundancy, nonholonomic redundancy can also be utilized while planning trajectories for the system. In the paper, a trajectory planning scheme for a 6-DOF space robot is developed in which nonholonomic redundancy for avoiding joint limits and obstacles are utilized.
The article of record as published may be found at https://doi.org/10.1109/70.246062
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Mukherjee, Ranjan. (Monterey, California. Naval Postgraduate School, 1992-08); NPS-ME-92-003Nonholonomic mechanical systems are governed by constraints of motion that are nonintegrable differential expressions. Unlike holonomic constraints, these differential constraints do not reduce the number of dimensions of ...
Yale, G.; Agrawal, B.N. (1994);This paper concerns the cooperative control of multiple manipulators attached to the same base as they reposition a common payload. The theory is easily applied to inertially based problems as well as space based free-floating ...
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