The transformation process of an m-DOF free-floating robot from one static state to a different static state has m degrees of freedom.The proposed approach of these transformations util-izes a series of single-DOF transformation processes as an alternative to the m-DOF transformation process.Two static state transformation processes are studied in detail.First,a single-DOF transformation process is established using a newly defined concept,referred to as transformation planning,and the definite integral of conservation of angular momentum.Second,the governing equation of the single-DOF transformation process is established using the dynamic equations of motion of the robot.This allows the joint torques to be computed to effect the state transformation.Finally,an extension of the single-DOF transformation process is proposed to extend the application of this proposed transformation methodology to create a transformation net which allows the reconfiguration of a robot from one state to many other possible states.
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