This paper is concerned with the implementation and assessment of joint motion management strategies for kinematically redundant robotic manipulators operating in the micro-gravity environment of Space Station. These robots must be capable of conducting experiments and manufacturing processes without disturbing the micro-gravity environment through base reactions/motions. The redundant degrees of freedom of the manipulator permit the inverse kinematic problem to be solved simultaneously with the minimization of a cost function. The cost function in this case is the weighted sum of the squares of the base forces and moments and is minimized over discrete time segments. The Generalized Inverse Method and Rayleigh Ritz technique are used to solve the combined optimization/inverse kinematics problem. Numerical examples include various robotic configurations and degrees of manipulator redundancy.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Redundant manipulators for momentum compensation in a micro-gravity environment


    Contributors:
    Quinn, R. D. (author) / Chen, J. L. (author) / Lawrence, C. (author)

    Conference:

    AIAA Guidance, Navigation and Control Conference ; 1988 ; Minneapolis, MN, United States


    Publication date :

    1988-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English






    On redundant flagged manipulators

    Alberich-Carramiñana, Maria / Thomas, Federico / Torras, Carme | BASE | 2006

    Free access


    Efficient redundancy control of redundant manipulators

    Ma, S. / Hirose, S. / Yoshinada, H. | British Library Online Contents | 1996