The Coupling Map Method for Path-Planning of Long Reach Space Robotic Systems With Experimental Evaluation
نویسندگان
چکیده
The Coupling Map (CM) has been proposed as an analytical tool to describe the dynamic behavior of long reach manipulators in the micro-gravity of space. The systems configuration considered consists of a relatively small high performance manipulator carried by a large flexible deployable structure, such as the one proposed for International Space Station Alpha. Such systems are subject to performance degrading vibrations. The Coupling Map yields a number of pathplanning algorithms that have been successfully demonstrated in simulation to improve system performance. This paper presents an experimental evaluation of the Coupling Map and some of its path-planning algorithms. These experimental results show that the Coupling Map based path-planning algorithms are valid and viable candidates for practical implementation.
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