Header menu link for other important links
X
Reactionless maneuvering of a space robot in precapture phase
F. James, , A.K. Singh, K. Madhava Krishna, A.K. Misra
Published in American Institute of Aeronautics and Astronautics Inc.
2016
Volume: 39
   
Issue: 10
Pages: 2417 - 2423
Abstract
A study presents a method that can be used to capture the target at the specified time while avoiding algorithmic as well as Jacobian singularities for a system that starts from rest. This method can alternatively be used to find a suitable initial configuration for a given desired motion state. It defines initial configuration for a given desired motion state, and the motion state of the robot as the position and velocity of a point on the base along with the joint positions and velocities of the arms. It allows additional constraints such as limits on angles, acceleration, and jerk to be satisfied while avoiding collisions.
About the journal
JournalData powered by TypesetJournal of Guidance, Control, and Dynamics
PublisherData powered by TypesetAmerican Institute of Aeronautics and Astronautics Inc.
ISSN07315090
Impact Factor1.868
Open AccessNo
Citation Styleunsrt
Sherpa RoMEO Archiving PolicyGreen