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SpaceRobot.PDF
Global Optimum Path Planning for a Redundant
Space Robot
Om P. Agrawal* and Yangsheng Xu
CMU-RI-TR-91-15
The Robotics Institute
Camegie Mellon University
Pittsburgh, Pennsylvania 15213
December 1991
0 199 1 Camegie Mellon University
Visiting Research Scholar from Southern Illinois University, Carbondale, IL 62901.
TABLE OF CONTENTS
List of Figures iv
1. Introduction 1
2. Momentum Conservation and Kinematic Conditions 4
3. Global Optimization Formulation 10
4. Boundary Conditions 13
5. Numerical Integration of Differential and Algebraic Equations 16
6. Iterative Shooting Method 20
7. Numerical Results 21
8. Conclusions 26
Appendix 32
References 38
List of Figures
Figure 1. Schematic of a Space Manipulator 5
Figure 2. Configuration of a Two Dimensional Space Manipulator 22
Figure 3. Time Response of the Center of Mass of the Base 23
Figure 4. Orientation of the Manipulator Arm as a Function of Time 24
Figure 5. Configuration of the Manipulator at Various Points 25
Figure 6. Effect of Change of Mass on Xo(t) 27
Figure 7. Effect of Change of Mass on Yo(t) 28
Figure 8. Effect of Change of Mass on (t)
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