{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,4]],"date-time":"2025-12-04T06:05:32Z","timestamp":1764828332969,"version":"3.38.0"},"reference-count":26,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[1994,8,1]],"date-time":"1994-08-01T00:00:00Z","timestamp":775699200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1994,8]]},"abstract":"<jats:p> Attitude control of a space platform\/manipulator system, using internal motion, is an example of a nonholonomic motion plan ning (NMP) problem arising from symmetry and conservation laws. Common to NMP problems are that an admissible con figuration space path is constrained to a given nonholonomic distribution. We formulate the dynamic equations of a system consisting of a 3-DOF PUMA-like manipulator attached to a space platform (e.g., a space station or a satellite) as an NMP problem and discuss the controllability of the system. Then we describe the application of a simple algorithm for obtaining approximate optimal solutions. We conclude with a descrip tion of simulation software implementing the algorithm and simulation results for two experiments. <\/jats:p>","DOI":"10.1177\/027836499401300401","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T07:05:13Z","timestamp":1173596713000},"page":"289-304","source":"Crossref","is-referenced-by-count":20,"title":["Attitude Control of a Space Platform\/Manipulator System Using Internal Motion"],"prefix":"10.1177","volume":"13","author":[{"given":"Chris","family":"Fernandes","sequence":"first","affiliation":[{"name":"Robotics Research Laboratory New York University New York, New York 10003"}]},{"given":"Leonid","family":"Gurvits","sequence":"additional","affiliation":[{"name":"Siemens Research Laboratory Princeton, New Jersey 08540"}]},{"family":"Zexiang Li","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering Hong Kong University of Sciences and Technology Kowloon, Hong Kong"}]}],"member":"179","published-online":{"date-parts":[[1994,8,1]]},"reference":[{"key":"atypb1","volume-title":"Foundations of Mechanics","author":"Abraham, R.","year":"1978","edition":"2"},{"volume-title":"Conf. on Decision and Control","author":"Bloch, A.","key":"atypb2"},{"volume-title":"Numerical Solution of Initial-Value Problems in Differential-Algebraic Equations","year":"1989","author":"Brenan, K.","key":"atypb3"},{"key":"atypb4","doi-asserted-by":"crossref","unstructured":"Brockett, R. 1981. 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