Trajectory Planning For Space Manipulators

摘要

The angular momentum of a free-flying multibody system in space is a conservedquantity. This conservation law acts as a nonholonomic constraint and manifests itself when cyclic motion of the articulated joints of an on board manipulator produces a net change in the orientation of the whole system. This poses two important and coupled problems: (a) the motion planning problem of the manipulator for attitude reorientation of the space structure using internal motion of the joints, and (b) planning the manipulator joint trajectories that produce repeatable motion of all the configuration variables. We have adopted a surface integral approach to come up with algorithms for these nonholonomic motion planning problems.