IEEE Transactions on Robotics and Automation · 1991 · 284 citations · 12 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot KinematicsRoboticsControl TheoryDifferential KinematicsKinematic ModelingManipulator ControlManipulator DynamicsMotion ControlControl AlgorithmsDynamic Equations Of MotionDynamics Of Robotic ManipulatorsFloating-base DynamicsFree-floating SystemsManipulator KinematicsRobot Manipulator Equations Of MotionSpace Robot Dynamics
It is suggested that nearly any control algorithm that can be used for fixed-based manipulators also can be employed in the control of free-floating space manipulator systems, with the additional conditions of estimating or measuring a spacecraft's orientation and of avoiding dynamic singularities. This result is based on the structural similarities between the kinematic and dynamic equations for the same manipulator but with a fixed base. Barycenters are used to formulate the kinematic and dynamic equations of free-floating space manipulators. A control algorithm for a space manipulator system is designed to demonstrate the value of the analysis.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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