Base-invariant symmetric dynamics of free-flying manipulators

نویسندگان

  • Abhinandan Jain
  • Guillermo Rodriguez
چکیده

The freedom of choice in designating a base{body for free{ ying manipulators gives these manipulators a base{invariance symmetry that is not encountered in terrestrial manipulators. This paper analyzes the relationship between this natural symmetry and the dynamical equations for freeying manipulators. The base-invariance symmetry is used to develop a new formulation of the manipulator dynamics in which two independent O(N ) recursions proceeding in opposite directions are summed together to obtain the complete free{ ying manipulator dynamics. Computation of the operational space inertia for the links in the manipulator is also discussed.

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عنوان ژورنال:
  • IEEE Trans. Robotics and Automation

دوره 11  شماره 

صفحات  -

تاریخ انتشار 1995