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Nonholonomic Space Robot Path Planning for Spacecraft Attitude Stabilization and Control TSUDA, Shin-ichi AOKI, Hirotaka OKUMOTO, Takuya This paper presents a practical path planning method for robots mounted on free-flying spacecraft using nonholonomic nature on its mechanics. Four major aspects are emphasized based on our theoretical and numerical analyses : (1) Stabilization and control of spacecraft attitude by state feedback approach, (2) Arbirary path planning is available within the allowable joint angles region, (3) Robustness of state feedback control and (4) Required accuracy and stability of the spacecraft is easily achieved. Those are important features from engineering points of view. Selfcontained spacecraft and its robot control can be established by our approach and this is validated by both theoretical and numerical analyses. 資料番号: SA0035265000 宇宙科学研究所 Institute of Space and Astronautical Science 1997-09 eng departmental bulletin paper https://jaxa.repo.nii.ac.jp/records/31439 0285-6808 AA10632072 The Institute of Space and Astronautical Science report 670 1 11 https://jaxa.repo.nii.ac.jp/record/31439/files/SA0035265.pdf application/pdf 683.1 kB 2020-01-23