Feedback equivalence and motion planning of a space manipulator
We study the dynamics of a free-floating space manipulator comprising a floating base equipped with a planar on-board manipulator with revolute joints. Lagrangian equations of motion are provided and affine Pfaffian constraints derived based on the conservation of the angular momentum of the base. A control system model of the dynamics is used as a framework for the formulation of a motion planning problem. To enable computations this model is then simplified by a feedback transformation. In the feedback equivalent representation of the dynamics the motion planning is performed by means of a Lagrangian Jacobian algorithm. Results of computations illustrate advantages of the employed motion planning algorithm.
KeywordsSpace manipulator affine Pfaffian constraints affine control system feedback equivalence jacobian motion planning
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This research was supported by the Wrocław University of Science and Technology under research project no 0401/0019/18.
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