An algorithm that eliminates the satellite attitude disturbances due to manipulator motions is presented. This algorithm is analyzed for a 9-DOF (degree of freedom) and a 6-DOF manipulator. It is shown that both of the manipulators' motions will not result in satellite attitude disturbances. The 9-DOF redundant manipulator end-effector can go through any path with any desired orientation. The 6-DOF manipulator can only go through a desired path, and its end-effector orientation changes according to the manipulator dynamics.


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    Title :

    Space manipulator motions with no satellite attitude disturbances


    Additional title:

    Bewegungen eines Raumfahrtmanipulators ohne Störung der Satellitenhöhe


    Contributors:
    Vafa, Z. (author)


    Publication date :

    1990


    Size :

    6 Seiten, 14 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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