Author(s)

R.W. Longman, V.H. Schulz & H.G. Bock

Abstract

One of the most important problems in space based robotics is the disturbance to the satellite attitude and to the satellite microgravity environment caused by satellite mounted robot operation. This paper reports on the development of algorithms for optimal path planning that minimizes these disturbances, and solve the inverse kinetics problem, i.e. with the satellite attitude control system off. Specific optimality criteria are studied, including minimum induced angular velocity of the satellite and minimizing the maximum acceleration of the satellite center of mass. In addition, the space based analog is generated for the common ground based linear interpolation in joint or Cartesian space, i.e. shortest distance paths. Some proper

Keywords