Large payload manipulation by space robots
نویسنده
چکیده
In this paper, kinematic models for multiple manipulator space robotic systems are developed, as functions of body-fixed barycentric vectors. These models are used to define workspaces for single and multi-manipulator freefloating systems. It is shown that following the capture of a large payload, the location of these workspaces in space changes, and their size is reduced. These effects, common in single and multi-manipulator systems, must be taken into account during planning of manipulation tasks in space. A procedure for manipulating a large payload is proposed. Given a payload and its desired path in space, this procedure yields an optimum grasping posture to ensure successful manipulation of the payload.
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