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Free-floating robotic systems

  • Olav Egeland
  • Kristin Y. Pettersen
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 230)

Abstract

This chapter reviews selected topics related to kinematics, dynamics and control of free-floating robotic systems. Free-floating robots do not have a fixed base, and this fact must be accounted for when developing kinematic and dynamic models. Moreover, the configuration of the base is given by the Special Euclidean Group SE(3), and hence there exist no minimum set of generalized coordinates that are globally defined. Jacobian based methods for kinematic solutions will be reviewed, and equations of motion will be presented and discussed. In terms of control, there are several interesting aspects that will be discussed. One problem is coordination of motion of vehicle and manipulator, another is in the case of underactuation where nonholonomic phenomena may occur, and possibly smooth stabilizability may be precluded due to Brockett's result.

Keywords

Autonomous Underwater Vehicle Nonholonomic System Virtual Displacement Space Robot IEEE Trans Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 1998

Authors and Affiliations

  • Olav Egeland
    • 1
  • Kristin Y. Pettersen
    • 1
  1. 1.Department of Engineering CyberneticsNorwegian University of Science and TechnologyNorway

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