An algorithm that eliminates the satellite attitude disturbances due to manipulator motions is presented. This algorithm is analyzed for a 9-DOF (degree of freedom) and a 6-DOF manipulator. It is shown that both of the manipulators' motions will not result in satellite attitude disturbances. The 9-DOF redundant manipulator end-effector can go through any path with any desired orientation. The 6-DOF manipulator can only go through a desired path, and its end-effector orientation changes according to the manipulator dynamics.


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    Titel :

    Space manipulator motions with no satellite attitude disturbances


    Weitere Titelangaben:

    Bewegungen eines Raumfahrtmanipulators ohne Störung der Satellitenhöhe


    Beteiligte:
    Vafa, Z. (Autor:in)


    Erscheinungsdatum :

    1990


    Format / Umfang :

    6 Seiten, 14 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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