On the inverse kinematics of space manipulators for avoiding dynamic singularities

A spacecraft-manipulator system is considered in this paper. Dynamic singularities are the singularities occurring when inverting the system generalized Jacobian required by the conventional method for solving the inverse kinematics of space manipulators. To avoid dynamic singularities three methods are developed here based on the manipulator Jacobian, instead of the system generalized Jacobian. These methods are compared with the conventional method on the basis of their convergence rate, accuracy and sensitivity. Results of this comparison are presented in this paper