It is suggested that nearly any control algorithm that can be used for fixed-based manipulators also can be employed in the control of free-floating space manipulator systems, with the additional conditions of estimating or measuring a spacecraft's orientation and of avoiding dynamic singularities. This result is based on the structural similarities between the kinematic and dynamic equations for the same manipulator but with a fixed base. Barycenters are used to formulate the kinematic and dynamic equations of free-floating space manipulators. A control algorithm for a space manipulator system is designed to demonstrate the value of the analysis.
On the nature of control algorithms for free-floating space manipulators
Über die Natur der Regelalgorithmen für freibewegliche Weltraummanipulatoren
IEEE Transactions on Robotics and Automation ; 7 , 6 ; 750-758
1991
9 Seiten, 18 Quellen
Aufsatz (Zeitschrift)
Englisch
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