One of the problems associated with redundant manipulators which were proposed for space applications is that the reactions transmitted to the base of the manipulator as a result of the motion of the manipulator will cause undesirable effects on the dynamic behavior of the supporting space structure. It is therefore necessary to minimize the magnitudes of the forces and moments transmitted to the base. It is shown that kinematic redundancy can be used to solve the dynamic problem of minimizing the magnitude of the base reactions. The methodology described is applied to a four degree-of-freedom spatial manipulator with one redundant degree-of-freedom.
Base reaction optimization of redundant manipulators for space applications
1988-01-01
Report
No indication
English
Quasioptimal control of space redundant manipulators
AIAA | 1999
|Quasioptimal Control of Space Redundant Manipulators
British Library Conference Proceedings | 1999
|