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        Exploiting nonholonomic redundancy of free-flying space robots

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        Author
        Nakamura, Yoshihiko
        Mukherjee, Ranjan
        Date
        1993
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        Abstract
        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.
        Description
        The article of record as published may be found at https://doi.org/10.1109/70.246062
        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.
        URI
        http://hdl.handle.net/10945/61045
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          Cooperative Control of Multiple Space Manipulators 

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          Trajectory planning for space manipulators 

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          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 ...
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