This paper deals with the analysis of the motion of free flying space manipulators. One of the problems of this class of robots is that any movement of the joints produces a rotation of its base. This should be avoided. Approximate solutions to this problem have been proposed using the concept of the disturbance map. The paper presents an exact solution showing how a proper design of the robot introduces some dynamic singularities which allow us to plan sequences of movement that do not affect the orientation of the robot base.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A contribution to the dynamics of fre-flying space manipulators


    Contributors:
    Legnani, G. (author) / Zappa, B. (author) / Adamini, R. (author) / Casolo, F. (author)

    Published in:

    Publication date :

    1999


    Size :

    14 Seiten, 15 Bilder, 9 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English






    Base-invariant symmetric dynamics of free-flying manipulators

    Jain, A. / Rodriguez, G. | Tema Archive | 1995


    Capture of free-flying payloads with flexible space manipulators

    Komatsu, T. / Uenohara, M. / Iikura, S. et al. | NTRS | 1989


    Capture of Free-Flying Payloads with Flexible Space Manipulators

    T. Komatsu / M. Uenohara / S. Iikura et al. | NTIS | 1989