Free-floating manipulators are subject to dynamic singularities that complicate their Cartesian motions and restrict their workspace. In this work, the Cartesian trajectory planning of free-floating manipulators is studied. A methodology is developed in which, for given end-effector trajectories, appropriate initial system configurations are found that result in singularity avoidance during end-effector motion. The method applies to both planar and spatial systems, with and without initial angular momentum, and to any desired end-effector position and attitude trajectories.
Avoiding dynamic singularities in Cartesian motions of free-floating manipulators
IEEE Transactions on Aerospace and Electronic Systems ; 51 , 3 ; 2305-2318
2015-07-01
2512042 byte
Article (Journal)
Electronic Resource
English
Cartesian teleoperation of underwater manipulators using floating handle input devices
British Library Conference Proceedings | 1993
|Cartesian Parallel Manipulators With Pseudoplanar Limbs
Online Contents | 2007
|Reactionless Control of Free-Floating Space Manipulators
IEEE | 2020
|