2003 · 10 citations · 4 references
EngineeringAerospace EngineeringRobotics EngineeringMotion PlanningRobot ControlRoboticsAttitude ControlControl SystemsControl TheoryMotion ControlOptimal ControlRobot Motion PlanningApproximate OptimizationAttitude Control SystemsAttitude DynamicsControllabilityInternal DynamicsNonholonomic DynamicsNonholonomic SystemsSystem Controllability
The authors formulate the dynamic equations of a system consisting of a 3-degree-of-freedom Puma-like manipulator attached to a space platform (e.g. a space station or a satellite) as an NMP (nonholonomic motion planning) problem and discuss controllability of the system. They describe the application of a simple algorithm for obtaining approximate optimal solutions. They conclude with results of a simulation experiment.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Nonlinear Controllability via Lie Theory
George W. Haynes, Henry Hermes · SIAM Journal on Control · 1970 · 200 citations