Mapping a Space Manipulator to a Dynamically Equivalent Manipulator
نویسندگان
چکیده
منابع مشابه
Mapping a Space Manipulator to a Dynamically Equivalent Manipulator
In this paper, we discuss the problem of how a free-floating space manipulator can be mapped to a conventional, fixed-base manipulator which preserves both its dynamic and kinematic properties. This manipulator is called dynamically equivalent manipulator (DEM). The DEM concept not only allows us to model a free-floating space manipulator system with simple, well-understood methods, but also ca...
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This paper presents the singularity-free dynamic equations of the dynamically equivalent manipulator (DEM) of spacecraft-manipulator systems. The DEM is a fixed-base manipulator with the same dynamic properties as the corresponding free-floating spacecraftmanipulator system. The DEM consists of a spherical joint, representing the spacecraft and a robotic arm with the same joint types as the spa...
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In this paper, adaptive control of free-floating space manipulators is considered. The dynamics based on the momentum conservation law for the free-floating space manipulator has non-linear parameterization properties. Therefore, the adaptive control based on a linear parameterization model cannot be used in this dynamics. In this paper, the dynamics of the free-floating space manipulator syste...
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There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...
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This paper presents a general strategy for manipulator control at kinematic singularities. When a manipulator is an the neighborhood of singular configurations, it is treated as a redundant mechanism in the subspace orthogonal to the singular directions of the end-effector. Control in this subspace is based on operational forces, whale null space joint torques are used to deal with the control ...
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ژورنال
عنوان ژورنال: Journal of Dynamic Systems, Measurement, and Control
سال: 1998
ISSN: 0022-0434,1528-9028
DOI: 10.1115/1.2801316