Non-holonomic turns and manageable feedback control in space robotics

Abstract

A well known falling cat phenomenon is revisited and a new interpretation from the non-holonomic motion is added. The primary conclusion says that 1) only angular velocity completely perpendicular to the intended axis of rotation makes the spin aimed, 2) the Hula-Hoop loins motion is found as an optimal motion for it and 3) an analytical expression of the motion is obtained in terms of time, which is applicable to the closed loop control taking the advantage of predictive or feed forward solution. Rigorous solution is provided via Rodrigues parameter. The results are practical and can be utilized as a manageable reorientation method in space robotics. Show more