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.


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    Title :

    Dynamically equivalent manipulator for space manipulator system. 1


    Contributors:
    Bin Liang (author) / Xu, Yangsheng (author) / Bergerman, M. (author)


    Publication date :

    1997


    Size :

    6 Seiten, 7 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





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