In this paper a new method is presented for solving the inverse kinematics of free-floating space manipulators. The idea behind the method is to move the space manipulator along the path with minimum dynamic disturbance. The method is proposed to use the manipulator Jacobian instead of the generalized Jacobian of the spacecraft-manipulator system. This is based on the simple fact that, if the space manipulator moves along the so-called Zero Disturbance Path (ZDP), the spacecraft is immovable. As a result, the space manipulator can in this case be treated as a terrestrial fixed-based manipulator. Hence, the motion mapping between the joints and the end-effector can be described directly by the manipulator Jacobian. In the case that the ZDP does not exist, it can be shown that the solutions obtained by the proposed method provide a path with minimum dynamic disturbance.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Inverse kinematics of free-floating space robots with minimum dynamic disturbance


    Weitere Titelangaben:

    Die inverse Kinematik von mobilen Weltraumrobotern mit minimalem dynamischen Störverhalten


    Beteiligte:
    Xi, Fengfeng (Autor:in)

    Erschienen in:

    Robotica ; 14 , 6 ; 667-675


    Erscheinungsdatum :

    1996


    Format / Umfang :

    9 Seiten, 5 Bilder, 3 Tabellen, 15 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Dynamic Simulations of Free-Floating Space Robots

    Rybus, Tomasz / Seweryn, Karol / Banaszkiewicz, Marek et al. | Tema Archiv | 2012




    Motion control of free-floating variable geometry truss. II - Inverse kinematics

    Huang, Shengyang / Natori, M. C. / Miura, Kohichi | AIAA | 1996


    Kinematics analysis and simulation of free-floating space robot

    Ren, J.-y. / Sun, H.-x. | British Library Online Contents | 2002