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History of Robotics Research and Development of Japan1991LocomotionNonholonomic Path Planning of Space Robots via Bi-Directional Approach

Yoshihiko NakamuraUniversity of California, Santa Barabara
Ranjan MukherjeeUniversity of California, Santa Barabara

Movies

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宇宙ロボットの双方向性アプローチ１：マニピュレータ関節角度のみの変化
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宇宙ロボットの双方向性アプローチ２：衛星姿勢のみの変化
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宇宙ロボットの落下実験[34][37]
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自由関節をもつマニピュレータの制御[21][22][27]

Correspondence papers

Y. Nakamura and R. Mukherjee：Nonholonomic Path Planning of Space Robots via Bi-Directional Approach

IEEE Transactions on Robotics and Automation, Vol.7, N0. 4, pp. 500-514, 1991.
Note: This paper may not be sold, recopied, or redistributed and is for personal use only. Any recopying, redistribution or resale of this paper is prohibited without a license from the IEEE (rights holder) to do so.

Related papers

[1] Nakamura, Y. and Mukherjee, R.: "Redundancy of Space Manipulator on Free-Flying Vehicle and its Nonholonomic Path Planning," Proc. NASA Conference on Space Telerobotics, Pasadena, January 31-February 2, Vol. III, pp. 181-190, 1989.

[2] Nakamura, Y. and Mukherjee, R.: "Nonholonomic Path Planning of Space Robots," Proc. 1989 IEEE International Conference on Robotics and Automation,Scottsdale, May, pp. 1050-1055, 1989.

[3] Nakamura, Y. and Mukherjee, R.: "Bi-Directional Approach for Nonholonomic Path Planning of Space Robots," in Robotics Research, The Fifth International Symposium, Eds. H. Miura ans S. Arimoto, MIT Press, pp.405-416, 1990.

[4] Nakamura, Y. and Mukherjee, R.: "Nonholonomic Path Planning of Space Robots via Bi-Directional Approach," Proc.1990 IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May, pp. 1764-1769, 1990.

[5] Mukherjee, R. and Nakamura, Y.: "Nonholonomic Redundancy of Space Robots and its Utilization via Hierarchical Liapunov Functions," Proc. 1991 American Control Conference, Boston, MA, June, pp.1491-1496, 1991.

[6] Oriolo, G. and Nakamura, Y.: "Free-Joint Manipulators: Motion Control under Second-Order Nonholonomic Constraints," Proc. 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems, Osaka, Japan, November, pp.1248-1253, 1991.

[7] Oriolo, G. and Nakamura, Y.: "Control of Mechanical Systems with Second-Order Nonholonomic Constraints: Underactuated Manipulators," Proc. Conference on Decision and Control, Brighton, UK, 1991.

[8] Nakamura, Y. and Savant, S. "Nonholonomic Motion Control of an Autonomous Underwater Vehicle," Proc. 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems, Osaka, Japan, November, pp.1254-1259, 1991.

[9] Mukherjee, R. and Nakamura, Y.: "An Efficient Algorithm for the Inverse Dynamics Computation of Space Manipulators," Proc. 1992 IEEE International Conference on Robotics and Automation, Nice, France, May, pp.A4-A9, 1992.

[10] Mukherjee, R. and Nakamura, Y.: "Formulation and Efficient Computation of Inverse Dynamics of Space Robots," IEEE Transactions on Robotics and Automation, Vol.8, N0.3, pp.500-514, 1992.

[11] Nakamura, Y. and Savant, S.: "Nonlinear Tracking Control of Autonomous Underwater Vehicles," Proc. 1992 IEEE International Conference on Robotics and Automation, Nice, France, May, pp.560-565, 1992.

[12] 中村, 伊藤: "電力を回生する宇宙ロボットシステムの姿勢制御装置の冗長性を利用した省エネルギ化制御，"日本ロボット学会誌, Vol.11, No.5, pp.717-725, 1993.

[13] 中村, 岩本: "自由関節で連結された宇宙構造物の形状制御，"日本ロボット学会誌, Vol.11, No.6, pp.883-891, 1993.

[14] Nakamura, Y. and Mukherjee, R.: "Exploiting Nonholonomic Redundancy of Free-Flying Space Robots," IEEE Transactions on Robotics and Automation, Vol.9, N0.6, pp.499-506, 1993.

[15] Nakamura, Y. and Ito, S.: "Lowering Energy Consumption of Space Robot Systems through Kinetic Energy Conservation," Proc. 1993 IEEE International Conference on Robotics and Automation, Atlanta, GA, May, pp.1019-1026, 1993.

[16] Nakamura, Y. and Iwamoto, R.: "Stabilization of the Shape of Space Multibody Structure with Free Joints," Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2095-2101, Yokohama, Japan, 1993.

[17] Nakamura, Y.: "Integrability of Dynamic Constraints of Underactuated Mechanisms," Prep. 6th International Symposium of Robotics Research, Hidden Valley, PA, October, 1993.

[18] Nakamura, Y. and Iwamoto, R.: "Space Multibody Structure Connected with Free Joints and Its Shape Control," Proc. IEEE Conference on Decision and Control, San Antonio, TX, December, pp.3126-3131, 1993.

[19] 中村, 岩本, 吉本: "ドリフト項をもつ非ホロノミック機械の制御，"日本ロボット学会誌, Vol.13, No.6, pp.830-837, 1995.

[20] 鈴木, 中村: "非ホロノミック宇宙ロボットのスパイラルモーション，"日本ロボット学会誌, Vol.13, No.7, pp.1020-1029, 1995

[21] 中村, 濃沼, 鈴木: "自由関節を持つ平面アームのカオス的挙動と非線形制御 ―ドリフトを持つ非ホロノミック機械の制御―，"日本ロボット学会誌, Vol.14, No.4, pp.602-611, 1996.

[22] Nakamura, Y., Suzuki, T. and Koinuma, M.: "Nonlinear Behavior and Control of Underactuated Robotic Mechanisms," Proc. Seventh International Symposium of Robotics Research, Munich, Germany, October, 1995. ("Robotics Research: The Seventh International Symposium," Eds. G. Giralt and G. Hirzinger, Springer-Verlag, pp. 67-77, 1996.）

[23] Suzuki, T. and Nakamura, Y.: "Planning Spiral Motion of Nonholonomic Space Robots," Proc. IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April, pp.718-725, 1996.

[24] Suzuki, T., Koinuma, M. and Nakamura, Y.: "Chaos and Nonlinear Control of a Nonholonomic Free-Joint Manipulator," Proc. IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April, pp.2668-2675, 1996.

[25] Nakamura, Y. and Mukherjee, R.: "Noetherian Perspective of Eulerian Motion of a Free Rigid Body," Journal of Guidance, Control, and Dynamics, Vol.20, No.1, pp.193-196, 1997.

[26] Nakamura, Y. and Suzuki, T.: "Planning Spiral Motions of Nonholonomic Free-Flying Space Robot," Journal of Spacecraft and Rockets, Vol.34, No.1, pp.137-143, 1997.

[27] Nakamura, Y., Suzuki, T. and Koinuma, M.: "Nonlinear Behavior and Control of A Nonholonomic Free-Joint Manipulator," IEEE Trans. on Robotics and Automation, 13(6), pp.853-862, 1997.

[28] Suzuki, T. and Nakamura, Y.: "Control of Manipulators with Free-Joints via the Averaging Method," Proc.1997 IEEE International Conference on Robotics and Automation, Albuquerque, pp.2998-3005, 1997.

[29] 中村, 関口: "カオティック移動ロボット，"日本ロボット学会誌, Vol.15, No.6, pp.918-926, 1997.

[30] 渡辺, 中村: "質量中心不変構造を持つ宇宙ロボット，" 日本ロボット学会誌, Vol.16, No.2, pp.258-264, 1998.

[31] 中村, 鈴木: "非ホロノミック機械系の平均化法による挙動解析と振幅変調制御 ― 平面2R自由関節マニピュレータの位置制御 ― ，"日本ロボット学会誌, Vol.16, No.3, pp.407-416, 1998.

[32] Watanabe, Y. and Nakamura, Y.: "Orbit Control for a Spacecraft via the Gravity Gradient Force," Proc. of 49th International Astronautical Congress, IAF-98-A.2.08, Melbourne, Australia, 1998.

[33] Watanabe, Y. and Nakamura, Y.: "A Space Robot of the Center-of-Mass Invariant Structure," Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, Canada, Vol.2, pp.1370-1375, 1998.

[34] Watanabe, Y., Araki, K. and Nakamura, Y.: "Microgravity Experiments for a Visual Feedback Control of a Space Robot Capturing a Target," Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, Canada, Vol.3, pp.1993-1998, 1998.

[35] Suzuki, T. and Nakamura, Y.: "Control of 2R Free-Joint Manipulators via the Averaging Method," Proc. of International Conference on Advanced Mechanisms, pp.157-162, Okayama, Japan, 1998.

[36] Suzuki, T., Miyoshi, W. and Nakamura, Y.: "Control of 2R Underactuated Manipulator with Friction," Proc. of 37th IEEE Conference on Decision and Control, pp.2007-2012, Tampa, Florida, USA, 1998.

[37] 中村，渡辺，荒木: "宇宙ロボットの自由落下無重力実験 ― 小空間における実験法と視覚計測 ― ，"日本ロボット学会誌，Vol.17, No.7, pp.975-982, 1999.

[38] Sekiguchi, A. and Nakamura, Y.: "The Chaotic Mobile Robot," IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS99), pp.172-178, 1999.

[39] 中村，下田: "磁気浮上を利用した微小重力ローバ，"日本ロボット学会誌，Vol.19，No.4，pp.485-491，2001.

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