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
RightsThis 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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