Design of Differentially Flat Planar Space Robots: A Step Forward in their Planning and Control

IEEE International Conference on Intelligent Robots and Systems

Volumn 4, Issue , 2003, Pages 3053-3058

  Franch, Jaume ^a   Agrawal, Sunil K ^b   Oh, S ^b   Fattah, Abbas ^b  

^a UNIVERSITAT POLITÈCNICA DE CATALUNYA   (Spain)

^b UNIVERSITY OF DELAWARE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEMS; FEEDBACK CONTROL; LINEAR SYSTEMS; MANIPULATORS; MATHEMATICAL MODELS; MOTION PLANNING; NONLINEAR SYSTEMS; TRAJECTORIES;

FLAT PLANAR SPACE ROBOTS; FREE-FLOATING SPACE ROBOTS;

ROBOTS;

EID: 0347409338     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. S.K. Agrawal, A. Fattah "Reactionless Space and Ground Robots: Novel Designs and Concept Studies," To appear in Mechanism and Machine Theory, 2003.
2. S. K. Agrawal, G. Hirzinger, K. Landzettel, and R. Schwertassek, "A New Laboratory Simulator for Study of Motion of Free-floating Robots Relative to Space Targets", IEEE Trans. on Robotics and Automation, vol. 123, no. 4, 1996, pp. 627-633.
3. N. Faiz S. K. Agrawal, R. M. Murray, "Trajectory Planning of Differentially Flat Systems with Dynamics and Inequalities", AIAA Journal of Guidance, Control, and Dynamics, vol. 24, no. 2, 2001, pp. 219-227.
4. Fliess, M., Levine, J., Martin, P., Rouchon, P., "Flatness and Defect of Nonlinear Systems: Introductory Theory and Examples", International Journal of Control, vol. 61, no. 6, 1995, pp. 1327-1361.
5. L.R. Hunt, R. Su, G. Meyer. "Global transformations of nonlinear systems", IEEE Transactions on Automatic Control vol. 28, 1983, pp. 24-31.
6. P. Martin, P. Rouchon. "Feedback linearization and driftless systems". Mathematics of Control, Signal and Systems vol. 7, 1994, pp. 235-254.