A trajectory generation method for space manipulators is introduced. The approach developed employs a manipulator with redundant kinematics. The method is implemented in two steps. First, the end-effector trajectory is developed to satisfy motion requirements. Next, the joint trajectories are developed to minimize base reactions. The analytical development of this method is described and an example illustrating the method is presented.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Base reaction optimization of manipulators with redundant kinematics


    Beteiligte:
    Chung, C. L. (Autor:in) / Desa, S. (Autor:in)


    Erscheinungsdatum :

    01.05.1988


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :


    Base reaction optimization of redundant manipulators for space applications

    Chung, C. L. / Desa, S. / Desilva, C. W. | NTRS | 1988



    A Fast Method of Inverse Kinematics of Redundant Manipulators

    Koganezawa, K. | British Library Online Contents | 1995



    On redundant flagged manipulators

    Alberich-Carramiñana, Maria / Thomas, Federico / Torras, Carme | BASE | 2006

    Freier Zugriff