OTHER
DYNAMIC SINGULARITY ANALYSIS AND MOTION PLANNING OF FREE-FLOATING SPACE ROBOT SYSTEMS
Ding Xi
- Year
- 2001
- Citations
- 2
Abstract
Kinematic model of a kind of space robot system with nonholonomic constraints was built at first, dynamic singularity of the space robot system was further analyzed, and then, the motion planning method avoiding dynamic singularity based on Lyapunov function was discussed emphatically; valuable results were obtained by a comparative simulation study.
Keywords
SingularityNonholonomic systemKinematicsMotion planningRobotControl theory (sociology)Motion (physics)Configuration spaceLyapunov functionComputer science
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