PATH PLANNING FOR SPACE MANIPULATOR WITHOUT DISTURBANCE ON VEHICLE'S ATTITUDE
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关键词:
- 空间机械臂 /
- 路径规划 /
- Lyapunov方法 /
- Pontryagin极值原理
Abstract: The problem on path planning of a space manipulator is discussed in this paper. The path planning methods avoiding or decreasing the disturbance on vehicle's attitude for a predetermined trajectory or initial and final positions of the payload of manipulator are suggested.-
Key words:
- Space manipulator /
- Path planning /
- Lyapunov's method /
- Pontryagin's maximum principle
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