In this paper, we discuss the problem of how a free-floating space manipulator (SM) can be mapped to a conventional, fixed-base manipulator which preserves its dynamic and kinematic properties, and thus is called dynamically equivalent manipulator (DEM). The DEM concept allows one to use a conventional manipulator system to simulate a free-floating space manipulator connected to a space station, spacecraft, or satellite, without complicated experimental set-ups. This paper presents the theoretical development of the DEM concept, and demonstrates its dynamic and kinematic equivalence to the SM.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Dynamically equivalent manipulator for space manipulator system. 1


    Beteiligte:
    Bin Liang (Autor:in) / Xu, Yangsheng (Autor:in) / Bergerman, M. (Autor:in)


    Erscheinungsdatum :

    1997


    Format / Umfang :

    6 Seiten, 7 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





    The Control and Simulation of Space Robot Based on Dynamically Equivalent Manipulator Model

    Yao, Hong / Ren, Yuan / Wang, Weijie | Springer Verlag | 2021


    A Singularity Free Formulation of the Dynamically Equivalent Manipulator Mapping of Space Manipulators

    From, P. / Pettersen, K. / Gravdahl, J. et al. | British Library Conference Proceedings | 2011



    Space sliding manipulator

    WEI HUAHAI / PENG GONGMING / TAN WANHU et al. | Europäisches Patentamt | 2023

    Freier Zugriff