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stratified systems

Robotica (1)

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Motion planning of strongly controllable stratified systems
Ignacy Duleba, Michal Opalka
Journal:

Robotica / Volume 34 / Issue 10 / October 2016

Published online by Cambridge University Press:

16 January 2015, pp. 2223-2240
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In this paper a motion planner for nonholonomic stratified systems was proposed. Those systems may arise easily when reliable systems are designed to be robust against failures in difficult servicing environments. For a special class of the systems, a strong controllability condition was introduced, and a criterion to satisfy the condition was formulated and used to plan the motion of free-floating space manipulators. Modules of the planner were enumerated and their roles were emphasized. Some features of the planner were examined and discussed based on simulation results performed on two models of space manipulators.