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• W2112363681 abstract "Attitude control of a space platform/manipulator system, using internal motion, is an example of a Nonholonomic Motion Planning (NMP) problem arising from symmetry and conservation laws. Common to NMP problems are that an admissible configuration space path is constrained to a given nonholonomic distribution. We formulate the dynamic equations of a system consisting of a 3-D.O.F Puma like manipulator attached to a space platform (e.g. a space station or a satellite), as a NMP problem and discuss controllability of the system. Then we describe the application of a simple algorithm for obtaining approximate optimal solutions. We conclude with a description of simulation software implementing the algorithm and simulation results for two experiments." @default.
• W2112363681 created "2016-06-24" @default.
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• W2112363681 date "1993-01-01" @default.
• W2112363681 modified "2023-09-24" @default.
• W2112363681 title "Attitude Control of Space Platform/Manipulator System Using Internal Motion" @default.
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• W2112363681 doi "https://doi.org/10.1007/978-1-4615-3588-1_6" @default.
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