Premium
Computer‐aided motion planning for satellite mounted robots
Author(s) -
Schulz Volker,
Longman Richard,
Bock Hans Georg
Publication year - 1998
Publication title -
mathematical methods in the applied sciences
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.719
H-Index - 65
eISSN - 1099-1476
pISSN - 0170-4214
DOI - 10.1002/(sici)1099-1476(19980525)21:8<733::aid-mma973>3.0.co;2-f
Subject(s) - satellite , motion (physics) , robot , robotics , motion planning , computation , workstation , point (geometry) , computer science , artificial intelligence , robotic spacecraft , computer vision , space (punctuation) , simulation , mathematics , algorithm , engineering , aerospace engineering , geometry , operating system
In space‐based robotics, one of the most important problems is the disturbance to the satellite attitude and to the satellite microgravity environment caused by satellite mounted robot operation. This paper reports on computer‐aided motion planning strategies to overcome this problem. Point‐to‐point motion designs are generated which not only connect prescribed start and end points of the robot motion, but also simultaneously return the satellite to its original attitude. Theoretical characterizations of some of those motion designs are presented, as well as numerical results. The computation time required to produce such motion designs is 1 or 2 min on a workstation. Thus, it can be practical to use these motion plans in space. © 1998 B. G. Teubner Stuttgart–John Wiley & Sons Ltd.