elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base

Agrawal, S.K. and Pathak, K. and Franch, J. and Lampariello, Roberto and Hirzinger, Gerd (2009) A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base. IEEE Transactions on Automatic Control, 54 (9), pp. 2185-2191. IEEE.

Full text not available from this repository.

Abstract

The motion of a free-flying 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 is partially actuated, it is difficult to determine joint trajectories that will result in 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 differentially flat, point-to-point maneuvers of the free-floating robot in its configuration space can be constructed by properly choosing trajectories in the differentially flat space. The primary advantage of this approach is that it avoids the use of nonlinear programming (NPL) to solve the non integrable rate equations, which at best can only provide approximate solutions. A current open research problem is how to design a differentially flat space robot with under-actuated base. The contributions of this technical note are as follows: i) study systematically the structure of the nonholonomic rate constraint equations of a free-floating open-chain space robot with two momentum wheels at the base and arbitrary oriented joint axes; ii) identify a set of sufficient conditions on the inertia distribution under which the system exhibits differential flatness; iii) exploit these design conditions fr point-to-point trajectory planning and control of the space robot.

Document Type:Article
Title:A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base
Authors:
AuthorsInstitution or Email of Authors
Agrawal, S.K.agrawal@udel.edu
Pathak, K.agrawal@udel.edu
Franch, J.agrawal@udel.edu
Lampariello, RobertoRoberto.Lampariello@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:September 2009
Journal or Publication Title:IEEE Transactions on Automatic Control
Refereed publication:Yes
In Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:54
Page Range:pp. 2185-2191
Publisher:IEEE
Status:Published
Keywords:Design for control, differential flatness, nonlinear programming (NLP), space robots
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 - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:19 Jan 2010 09:35
Last Modified:07 Feb 2013 20:21

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.