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.


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    Title :

    Avoiding dynamic singularities in Cartesian motions of free-floating manipulators


    Contributors:


    Publication date :

    2015-07-01


    Size :

    2512042 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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