Nonholonomic Space Robot Path Planning for Spacecraft Attitude Stabilization and Control

概要

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This paper presents a practical path planning method for robots mounted on free-flying spacecraft using nonholonomic nature on its mechanics. Four major aspects are emphasized based on our theoretical and numerical analyses : (1) Stabilization and control of spacecraft attitude by state feedback approach, (2) Arbirary path planning is available within the allowable joint angles region, (3) Robustness of state feedback control and (4) Required accuracy and stability of the spacecraft is easily achieved. Those are important features from engineering points of view. Selfcontained spacecraft and its robot control can be established by our approach and this is validated by both theoretical and numerical analyses.
宇宙航空研究開発機構の論文