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.
A contribution to the dynamics of fre-flying space manipulators
Mechanism and Machine Theory ; 34 , 3 ; 359-372
1999
14 Seiten, 15 Bilder, 9 Quellen
Article (Journal)
English
A contribution to the dynamics of free-flying space manipulators
Online Contents | 1999
|Base-invariant symmetric dynamics of free-flying manipulators
Tema Archive | 1995
|