Base-Invariant Symmetric Dynamics of llee-1.!’lying Space Manipuhtors
نویسندگان
چکیده
I%e-jlying space manipulators have a symmetry not normally encountered in terrestrial . . manipulators, arising from the freedom oj choice jor the manipulator base-body. This paper analyzes the ndationship between this natuml symmetry and the dynamical equations oj space manipulators. The symmetry is used to develop a new formulation oj the manipulator dynamics in which two independent O(JU) ~cursions pnxeeding in opposite dirr.ctions aw summed together to obtain the complete jrwe-jiying manipulator dynamics. Each of the recursions is based upon sequential O(JU) jorwati dynamics algorithms whose amputations ae decoupled and independent oj each other. The new algorithms offer advantages jor pamllel computation. Computation oj the opemtional space inertia ineriia for the links in the manipulator is also discussed.
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