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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 - Institute of Electrical and Electronics Engineers.

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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.

Item URL in elib:https://elib.dlr.de/62748/
Document Type:Article
Title:A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:September 2009
Journal or Publication Title:IEEE Transactions on Automatic Control
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 2185-2191
Publisher:IEEE - Institute of Electrical and Electronics Engineers
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 (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:19 Jan 2010 09:35
Last Modified:27 Mar 2024 15:03

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