xtended Operational Space Formulation for Serial-to- Chain (Branching) Manipulators
نویسندگان
چکیده
This paper extends the Operational Space Formulation to the important class of serial-to-parallel chain (branching) manipulators. The various models and concepts developed in operational space, such as Dynamically Consistent Force/Torque Decomposition for control of redundant manipulators and the Augmented Object Model for cooperative manipulator systems, are shown to extend directly. Dynamic modeling and experimental results for a free-flying, two-arm space robot are presented to validate this extension.
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