Abstract
Internal torques generated from shape reconfiguration can be helpful in Micro-Satellite attitude control. The configuration-attitude-coupled non-holonomic dynamics of a multi-body spacecraft is investigated. A shape-based motion trajectory in the form of water drop curve is proposed to synchronously reach target attitude and target shape configuration. With the shape-based approach, the motion planning problem is converted into a system of non-linear equations in three unknowns. The advantages of this approach is demonstrated from the views of simplicity, reachability, and efficiency. Simulations are conducted to test the planning function, and the results are compared with those obtained from the optimal control method.
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