Underactuation may arise when a manipulator includes at least one passive joint. Free-flying platforms fall under passive systems since they can be considered as linked to a fixed base by 6-d.o.f. free joints with no friction. Dynamics of underactuated cooperating manipulators have become a bigger challenge when underactuation is encountered by the combination of free, flexible and/or active joints in the context of a free-flying platform. This paper demonstrates the presented methodology on the dynamical modeling and simulation of underactuated manipulators cooperating to perform a common task on a free-flying space platform.


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    Title :

    Dynamical modeling of cooperating underactuated manipulators for space manipulation


    Additional title:

    Dynamische Modellierung kooperativer unteraktuierter Manipulatoren für Weltraummanipulationen


    Contributors:

    Published in:

    Advanced Robotics ; 24 , 3 ; 325-341


    Publication date :

    2010


    Size :

    17 Seiten, 7 Bilder, 15 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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