In this paper, we discuss the problem of how a free-floating space manipulator (SM) can be mapped to a conventional, fixed-base manipulator which preserves its dynamic and kinematic properties, and thus is called dynamically equivalent manipulator (DEM). The DEM concept allows one to use a conventional manipulator system to simulate a free-floating space manipulator connected to a space station, spacecraft, or satellite, without complicated experimental set-ups. This paper presents the theoretical development of the DEM concept, and demonstrates its dynamic and kinematic equivalence to the SM.
Dynamically equivalent manipulator for space manipulator system. 1
IEEE International Conference on Robotics and Automation, 1997 ; 4 ; 2765-2770
1997
6 Seiten, 7 Quellen
Conference paper
English
The Control and Simulation of Space Robot Based on Dynamically Equivalent Manipulator Model
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