By Topic

On reorienting linked rigid bodies using internal motions

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
G. C. Walsh ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; S. S. Sastry

Provides algorithms for reorienting linked rigid bodies floating in space. The dynamics of these systems conserve both linear and angular momentum. The conservation of angular momentum is a nonintegrable or nonholonomic constraint. The authors derive this constraint by applying Noether's theorem to the Lagrangian of the system. When the total angular momentum is zero, the authors may dualize the constraint to a control system. The problem of reorienting the satellite becomes a steering problem for a drift free control system. The authors give explicit solutions for steering a planar skater and a satellite with two rotors. The planar skater has been simulated and animated on a graphics workstation. The authors also discuss the hardware setup which they built to verify the theoretical results

Published in:

IEEE Transactions on Robotics and Automation  (Volume:11 ,  Issue: 1 )