A differentially flat open-chain space robot with arbitrarily oriented joint axes and two momentum wheels at the base

IEEE Transactions on Automatic Control

Volumn 54, Issue 9, 2009, Pages 2185-2191

  Agrawal, Sunil K ^a   Pathak, Kaustubh ^a   Franch, Jaume ^a   Lampariello, Roberto ^b   Hirzinger, Gerd ^b  

^a UNIVERSITY OF DELAWARE   (United States)

^b GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

Design for control; Differential flatness; Nonlinear programming (NLP); Space robots

Indexed keywords

ANGULAR MOMENTUM CONSERVATION; APPROXIMATE SOLUTION; CONFIGURATION SPACE; DESIGN CONDITION; DESIGN FOR CONTROL; DIFFERENTIAL FLATNESS; FREE-FLOATING SPACE ROBOT; JOINT TRAJECTORIES; MOMENTUM WHEELS; NONHOLONOMICS; POINT TRAJECTORY; POINT-TO-POINT MOTION; RATE CONSTRAINTS; RATE EQUATIONS; RESEARCH PROBLEMS; ROBOT SYSTEM; SPACE ROBOTS; SUFFICIENT CONDITIONS; TECHNICAL NOTES;

ANGULAR MOMENTUM; DYNAMIC PROGRAMMING; EQUATIONS OF MOTION; NONLINEAR EQUATIONS; NONLINEAR PROGRAMMING; OPTIMIZATION; ROBOT PROGRAMMING; ROBOTS; TOOLS; VEHICLES; WAVE FUNCTIONS; WHEELS;

MACHINE DESIGN;

EID: 70349434701     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2009.2026836     Document Type: Article

References (12)

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