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a novel generalized nonholonomy criteria and physical interpretation of holonomicnonholonomic constraints of a free-flying space robot withwithout interaction with a flying target satellite英文论文.pdf

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a novel generalized nonholonomy criteria and physical interpretation of holonomicnonholonomic constraints of a free-flying space robot withwithout interaction with a flying target satellite英文论文

Intelligent Control and Automation, 2011, 2, 267-283 doi:10.4236/ica.2011.24032 Published Online November 2011 (http://www.SciRP.org/journal/ica) A Novel Generalized Nonholonomy Criteria and Physical Interpretation of Holonomic/Nonholonomic Constraints of a Free-Flying Space Robot with/without Interaction with a Flying Target Satellite 1 2 Murad Shibli , Sohail Anwar 1College Requirement Unit, Abu Dhabi Polytechnic, Institute of Applied Technology, Abu Dhabi , United Arab Emirates 2Altoona College , Penn State University, Altoona, USA E-mail : murad.alshibli@iat.ac.ae Received December 15, 2010; revised June 29, 2011; accepted July 5, 2011 Abstract This paper presents a new nonholonomy criteria and reveals the physical interpretation of holonomoic and nonholonomic constraints acting on a free-flying space robot with or without interaction with a free Fly- ing/Floating target object. The analysis in this paper interprets the physical interpretation behind such con- straints, and clarifies geometric and kinematic conditions that generate such constraints. Moreover, a new criterion of finding the holonomy/nonholonomy of constraints impose on a free-flying space robot with or without interaction with a floating object is presented as well. The proposed criteria are applicable in case of zero or non-zero initial momentum conditions. Such nonholonomy criteria are proposed by utilizing the concept of orthogonal projection matrices and singular value decomposition (SVD). Using this methodology will also enable us to veri