Optimal Control Method of Nonholonomic Motion Planning of Space Manipulators

Ge Xingsheng, Chen Li (Beijing Institute of Machinery Industry)
Liu Yanzhu (Shanghai Jiaotong Uni versity£©

Abstract: In this paper, the problem of motion planning of space manipulator system is discussed. Considering the nonholonomic characters of the system, the dynamic of the space manipulators are transformed into the state equations of non-linear control system. The numerical solution of optimal control is proposed. The effectiveness of the method is proved by the numerical simulation examples.
Keywords: space manipulator, nonholonomic constraint, optimal control.