An efficient computation scheme for the kinematics and inverse dynamics of a satellite-based manipulator is proposed in this paper. Such a manipulator differs from an earth-based one, because the motion of the satellite body is affected by that of the manipulator. The scheme we propose uses the kinematic conditions of the adjoined links and their derivatives with respect to time. The consideration laws of the total momentum and the conditions for the total force balance are used to determine the satellite body's velocity and acceleration. The amount of calculations for the kinematics and inverse dynamcis is proportional to the number of manipulator links.
Efficient computation scheme for the kinematics and inverse dynamics of a satellite-based manipulator
Berechnung der Kinematik und inversen Dynamik eines Satelliten-Manipulators
Fujitsu Scientific and Technical Journal ; 29 , 4 ; 339-349
1993
11 Seiten, 7 Bilder, 4 Tabellen, 6 Quellen
Article (Journal)
English
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