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.
Base reaction optimization of manipulators with redundant kinematics
1988-05-01
Conference paper
No indication
English
A Fast Method of Inverse Kinematics of Redundant Manipulators
British Library Online Contents | 1995
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