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Erschienen in:
2010 | OriginalPaper | Buchkapitel
Control of Space Robots
verfasst von : Wen-Hong Zhu
Erschienen in: Virtual Decomposition Control
Verlag: Springer Berlin Heidelberg
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Space robot, referring to a robot manipulator or a group of robot manipulators mounted on a platform in a space orbit, possesses unique challenges to control and motion planning due to the nature of its underactuation leading to the existence of the nonholonomic constraints governed by the momentum conservation law. In general, there exist six nonholonomic constraints on each orbital space robot. These six nonholonomic constraints comprise three constraints for the linear motion and the other three constraints for the rotational motion. If thrusters are enabled in all three directions, the number of nonholonomic constraints reduces to three. In the control and motion planning, the three- or six-dimensional nonholonomic constraints that make the kinematics no longer independent of the dynamics need to be properly handled.