An Operational Space Formulation for a Free-Flying, Multi-Arm Space Robot
نویسندگان
چکیده
The number of hours of assembly and maintenance required on-orbit to construct and service space-based platforms has highlighted the important role that space robotics must play. Tasks that robots will perform on a future space platform will include assembly, repair, maintenance, and service. While a number of these anticipated tasks may be accomplished by xed-base, single end-e ector manipulators, many more tasks will require robotic systems that possess characteristics such as mobility, multiple arms, autonomy and dexterity.
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