The freedom of choice in designating a base-body for free-flying manipulators gives these manipulators a base-invariance symmetry that is not encountered in fixed-base manipulators. This paper analyzes the relationship between this natural symmetry and the dynamical equations for free-flying manipulators. The base-invariance symmetry is used to develop a new formulation of the manipulator dynamics in which two independent O(N) recursions proceeding in opposite directions are summed together to obtain the complete free-flying manipulator dynamics. Computation of the operational space inertia for the links in the manipulator is also discussed.


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    Title :

    Base-invariant symmetric dynamics of free-flying manipulators


    Additional title:

    Basisinvariante symmetrische Dynamik freifliegender Manipulatoren


    Contributors:
    Jain, A. (author) / Rodriguez, G. (author)

    Published in:

    Publication date :

    1995


    Size :

    13 Seiten, 17 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English






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