Robotic manipulators carried by future spacecraft are expected to perform important tasks in space, such as the servicing of satellites. However, the performance of these systems could be severely degraded by dynamic disturbances to the spacecraft caused by manipulator motions. This paper presents a method for representing the dynamics of space manipulator systems using the recently developed Virtual Manipulator (VM) concept. This representation is then applied to develop algorithms which can be used to plan manipulator motions that minimize disturbances of the spacecraft.
On the dynamics of space manipulators using the Virtual Manipulator, with applications to path planning
1990-12-01
Miscellaneous
No indication
English
Path Planning for Space Manipulators to Reduce Attitude Disturbances
Online Contents | 1997
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