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Optimal Nonholonomic Motion Planning of Space Robot System With Dual-Arms

[+] Author Affiliations
Li Chen, Xiaoteng Tang

Fuzhou University, Fuzhou, Fujian, China

Paper No. DETC2007-34707, pp. 11-16; 6 pages
doi:10.1115/DETC2007-34707
From:
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME

abstract

In this paper, the optimal nonholonomic motion planning of free-floating space robot system with dual-arms is discussed. Base on the linear and angular momentum conservations of the system, the system state equations for control design are established, so the nonholonomic motion planning objective of attitude control of space robot system is translated as the solution of a canonical nonlinear control problem. An optimal control scheme of the system proposed is studied, using radial basis function approximation; a numerical algorithm for computing approximate optimal control of the system proposed is developed. The optimal motion planning approach proposed above possesses the advantages that it can obtain the desired angles of the base’s attitude and arms’ joints only by controlling the arms’ joints motion. A planar free-floating space robot system with dual-arms is simulated to verify the proposed approach.

Copyright © 2007 by ASME
Topics: Robots , Path planning

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