OPTIMAL TRAJECTORY PLANNING OF FREE-FLOATING SPACE ROBOT USING INDIRECT APPROACH IN POINT TO POINT MOTION

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

NIKOOBIN AMIN; SAMANI NASTARAN

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: AEROSPACE KNOWLEDGE AND TECHNOLOGY JOURNAL Year:2016 | Volume:5 | Issue:1 Page(s): 17-30

Download Full-Text

Persian Verion

View:

846

Download:

Cites:

Information Journal Paper

Title

OPTIMAL TRAJECTORY PLANNING OF FREE-FLOATING SPACE ROBOT USING INDIRECT APPROACH IN POINT TO POINT MOTION

Author(s)

NIKOOBIN AMIN | SAMANI NASTARAN | Issue Writer Certificate

Keywords

FREE-FLOATING SPACE MANIPULATORQ1

OPTIMAL TRAJECTORY PLANNINGQ2

POINT TO POINT MOTIONQ2

OPTIMAL CONTROLQ2

INDIRECT METHODQ1

Abstract

In this paper, a new method on the base of the indirect solution of OPTIMAL CONTROL problem is presented for trajectory planning of Free-Floating Space Robot (FFSR) in POINT TO POINT MOTION. To this end, dynamic equations of the system beside the non-holonomic constraints due to angular momentum conservation low are derived in the state space form. Then the necessary conditions for optimality are derived using the fundamental theorem calculus of variations. The obtained equations lead to a two-point boundary value problem (BVP) which its solution result in optimal trajectory and OPTIMAL CONTROL function. In the proposed method, both manipulator and base moves from the initial pose to the final pose in such a way that all the boundary conditions, dynamic equations and non-holonomic constraints are satisfied, and a given performance index such as consumed power or torque is also minimized. Simulations are performed for a two-link FREE-FLOATING SPACE MANIPULATOR and the obtained results are compared with the previous works, and the efficiency of proposed method to reduce the base movement is illustrated.

Cites

No record.

References

No record.

Cite

APA: Copy

NIKOOBIN, AMIN, & SAMANI, NASTARAN. (2016). OPTIMAL TRAJECTORY PLANNING OF FREE-FLOATING SPACE ROBOT USING INDIRECT APPROACH IN POINT TO POINT MOTION. AEROSPACE KNOWLEDGE AND TECHNOLOGY JOURNAL, 5(1 ), 17-30. SID. https://sid.ir/paper/264184/en

Vancouver: Copy

NIKOOBIN AMIN, SAMANI NASTARAN. OPTIMAL TRAJECTORY PLANNING OF FREE-FLOATING SPACE ROBOT USING INDIRECT APPROACH IN POINT TO POINT MOTION. AEROSPACE KNOWLEDGE AND TECHNOLOGY JOURNAL[Internet]. 2016;5(1 ):17-30. Available from: https://sid.ir/paper/264184/en

IEEE: Copy

AMIN NIKOOBIN, and NASTARAN SAMANI, “OPTIMAL TRAJECTORY PLANNING OF FREE-FLOATING SPACE ROBOT USING INDIRECT APPROACH IN POINT TO POINT MOTION,” AEROSPACE KNOWLEDGE AND TECHNOLOGY JOURNAL, vol. 5, no. 1 , pp. 17–30, 2016, [Online]. Available: https://sid.ir/paper/264184/en

Related Journal Papers