ISSN:
1573-2754
Keywords:
space manipulator
;
motion planning
;
optimal control
;
wavelet analysis
;
TP241
Source:
Springer Online Journal Archives 1860-2000
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
,
Mathematics
,
Physics
Notes:
Abstract The optimal control problem of nonholonomic motion planning of space manipulator was discussed. Utilizing the method of wavelet analysis, the discrete orthogonal wavelets were introduced to solve the optimal control problem, the classical Fourier basic functions were replaced by the wavelet expansion approximation. A numerical algorithm of optimal control was proposed based on wavelet analysis. The numerical simulation shows, the method is effective for nonholonomic motion planning of space manitulator.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF02458994
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