It is suggested that nearly any control algorithm that can be used for fixed-based manipulators also can be employed in the control of free-floating space manipulator systems, with the additional conditions of estimating or measuring a spacecraft's orientation and of avoiding dynamic singularities. This result is based on the structural similarities between the kinematic and dynamic equations for the same manipulator but with a fixed base. Barycenters are used to formulate the kinematic and dynamic equations of free-floating space manipulators. A control algorithm for a space manipulator system is designed to demonstrate the value of the analysis.


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    Title :

    On the nature of control algorithms for free-floating space manipulators


    Additional title:

    Über die Natur der Regelalgorithmen für freibewegliche Weltraummanipulatoren


    Contributors:

    Published in:

    Publication date :

    1991


    Size :

    9 Seiten, 18 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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