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.


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    Title :

    Base reaction optimization of manipulators with redundant kinematics


    Contributors:
    Chung, C. L. (author) / Desa, S. (author)


    Publication date :

    1988-05-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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