Coordinate-Free Jacobian Motion Planning: A 3-D Space Robot
针对包含旋转群构型空间的机器人系统，提出一种无坐标表示的雅可比运动规划算法，应用于自由漂浮空间机器人，并通过角动量守恒设计算法，仿真验证了性能。
We address the motion planning problem for a robotic system whose configuration manifold contains a group of rotations. Our approach is applied to a free-floating space robot composed of a three-dimensional base (a spacecraft) and an anthropomorphic onboard manipulator. The robot is actuated by the torques exerted at the joints of the onboard manipulator. A coordinate-free representation of rotations is utilized. The Lagrangian formalism is employed in order to derive a dynamics model of the robot that takes the form of a control system defined on the group of rotations and the joint space of the onboard manipulator. Using the conservation of angular momentum of the robot, a Jacobian motion planning algorithm is designed relying on the Endogenous Configuration Space Approach. The performance of the algorithm is verified by computer simulations.