EngineeringMechanical EngineeringRobotics EngineeringRobot DynamicsRobot KinematicsRoboticsAttitude ControlDifferential KinematicsManipulator ControlManipulator DynamicsRobot ManipulatorsDynamics Of Robotic ManipulatorsEnd-effector DynamicsEnd-effector OrientationManipulator KinematicsRedundant Manipulator ControlRobot Manipulator Equations Of MotionSix-degree-of-freedom Motion ModelingSpace Robot Dynamics
An algorithm that eliminates the satellite attitude disturbances due to manipulator motions is presented. This algorithm is analyzed for a 9-DOF (degree of freedom) and a 6-DOF manipulator. It is shown that both of the manipulators' motions will not result in satellite attitude disturbances. The 9-DOF redundant manipulator end-effector can go through any path with any desired orientation. The 6-DOF manipulator can only go through a desired path, and its end-effector orientation changes according to the manipulator dynamics.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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