Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.


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    Title :

    Goal driven kinematic simulation of flexible arm robot for space station missions


    Contributors:
    Janssen, P. (author) / Choudry, A. (author)


    Publication date :

    1987-11-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English


    Keywords :



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