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Design of a Differentially Flat Open-Chain Space Robots with Arbitrarily Oriented Joints and Two Momentum Wheels at the Base

Agrawal, Sunil and Pathak, Kaustubh and Franch, Jaume and Lampariello, Roberto and Hirzinger, Gerd (2006) Design of a Differentially Flat Open-Chain Space Robots with Arbitrarily Oriented Joints and Two Momentum Wheels at the Base. In: Proceedings of the ICRA-2006 IEEE International Conference on Robotics and Automation, pp. 3867-3872. ICRA 2006, Orlando, FL (USA).

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Abstract

Abstract- The motion of a free-floating space robot is characterized by the principle of conservation of angular momentum. It is well known that these angular momentum equations are nonholonomic, i.e., are nonintegrable rate equations. If the base of the free-floating robot os partially point-to-point motion of the entire robot system in its configuration space. However, if the drift-less system associated with the angular momentum conservation equations is shown to be differentially flat, point-to-point maneuvers of the free-floating robot in its configuration space can be constructed. However, an open reseach problem in the current literature is to show the property of differential flatness for a general space robot. The primary contributions of this paper are as follows: (i) study systematically the structure of the nonholonomic rate constraint equations of a free-floating open-chain space robot with arbitrarily oriented joints and two momentum wheels; (ii) establish the design conditions under which the system exhibits differential flatness; (iii) exploit these design conditions for point-to-point trajectroy planning and control of the space robot.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Design of a Differentially Flat Open-Chain Space Robots with Arbitrarily Oriented Joints and Two Momentum Wheels at the Base
Authors:
AuthorsInstitution or Email of Authors
Agrawal, SunilUniversity of Delaware
Pathak, KaustubhUniversity of Delaware
Franch, JaumeUniversity of Delaware
Lampariello, RobertoUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2006
Journal or Publication Title:Proceedings of the ICRA-2006 IEEE International Conference on Robotics and Automation
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 3867-3872
Status:Published
Keywords:-
Event Title:ICRA 2006
Event Location:Orlando, FL (USA)
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Vorhaben On-Orbit Servicing (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:06 Sep 2007
Last Modified:27 Apr 2009 14:20

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