Coordinate-Free Jacobian Motion Planning: A 3-D Space Robot
| Autor: | Joanna Ratajczak, Krzysztof Tchoń |
|---|---|
| Rok vydání: | 2022 |
| Předmět: |
Spacecraft
business.industry Computer science Manifold Computer Science Applications Computer Science::Robotics Human-Computer Interaction Coordinate-free symbols.namesake Control and Systems Engineering Control theory Jacobian matrix and determinant symbols Robot Torque Motion planning Configuration space Electrical and Electronic Engineering business Software ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | IEEE Transactions on Systems, Man, and Cybernetics: Systems. 52:5354-5361 |
| ISSN: | 2168-2232 2168-2216 |
| DOI: | 10.1109/tsmc.2021.3125276 |
| Popis: | We address the motion planning problem for a robotic system whose configuration manifold contains a group of rotations. Our approach is applied to a free-floating space robot composed of a three-dimensional base (a spacecraft) and an anthropomorphic onboard manipulator. The robot is actuated by the torques exerted at the joints of the onboard manipulator. A coordinate-free representation of rotations is utilized. The Lagrangian formalism is employed in order to derive a dynamics model of the robot that takes the form of a control system defined on the group of rotations and the joint space of the onboard manipulator. Using the conservation of angular momentum of the robot, a Jacobian motion planning algorithm is designed relying on the Endogenous Configuration Space Approach. The performance of the algorithm is verified by computer simulations. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|