An analysis of the momentum conservation equations of a redundant free-flying spacecraft/manipulator system acting in a zero-gravity environment is presented. In order to follow a predefined end-effector path, the inverse kinematics at velocity level is considered. The redundancy is solved alternatively in terms of pseudoinverses and null-space components of the manipulator inertia matrix, the manipulator Jacobian matrix, and the generalized Jacobian matrix. A general manipulation task is defined as end-effector continuous path tracking with simultaneous attitude control of the spacecraft. Three subtasks of the general task are considered. The case of manipulator motions that yield no spacecraft attitude disturbance is analyzed in more detail and a special 'fixed-attitude-restricted' (FAR) Jacobian is defined. Through singular-value decomposition of this Jacobian, corresponding FAR dexterity measures (FAR manipulability and FAR condition number) are derived.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Analysis of a redundant free-flying spacecraft/manipulator system


    Weitere Titelangaben:

    Analyse eines redundanten Raumschiffmanipulatorsystems im freien Raum


    Beteiligte:
    Nenchev, D. (Autor:in) / Umetani, Y. (Autor:in) / Yoshida, K. (Autor:in)


    Erscheinungsdatum :

    1992


    Format / Umfang :

    6 Seiten, 21 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    A manipulator system designed for Free-Flying Teleoperator Spacecraft

    Tewell, J. R. / Spencer, R. A. / Lazar, J. J. | NTRS | 1974



    An Optimal Configuration Solution of 8-DOF Redundant Manipulator for Flying Ball

    Ren, Ziwu / Wang, Zhongyuan / Guo, Zibo et al. | TIBKAT | 2023


    Free-flying solar reflector spacecraft

    Hedgepeth, J. M. | NTRS | 1981


    An Optimal Configuration Solution of 8-DOF Redundant Manipulator for Flying Ball

    Ren, Ziwu / Wang, Zhongyuan / Guo, Zibo et al. | Springer Verlag | 2023