%0 Journal Article
%T BI-DIRECTIONAL APPROACH FOR MOTION PLANNING OF SPACE MANIPULATORS WITH PRISMATIC JOINT<br>带滑移铰空间机械臂运动规划的双向逼近方法
%A GUO Yishen
%A CHEN Li
%A <br>郭益深
%A 陈力
%J 力学与实践
%D 2006
%I 
%X Based on a bi-directional approach, the paper discusses the motion planning of free-flying space manipulators with prismatic joint. Considering its nonholonomic nature, the vehicle orientation can be controlled in addition to the joint variables of the manipulators, by actuating only the joint variables. As the result, the fuel consumption for controlling the vehicle orientation is reduced and the life-span of space manipulator system is prolonged. A planar space manipulator with prismatic joint is simulated to verify the proposed approach.
%K space manipulators with prismatic joint
%K bi-directional approach
%K motion planning<br>带滑移铰空间机器臂
%K 双向逼近方法
%K 运动规划
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=6E709DC38FA1D09A4B578DD0906875B5B44D4D294832BB8E&cid=5D344E2AD54D14F8&jid=0BF5C9FB031A532ED0A6D99DC4F6181A&aid=A9F3E7B572D59E1B&yid=37904DC365DD7266&vid=D3E34374A0D77D7F&iid=CA4FD0336C81A37A&sid=D3E34374A0D77D7F&eid=4AD960B5AD2D111A&journal_id=1000-0879&journal_name=力学与实践&referenced_num=0&reference_num=11