Title :
Analysis of space manipulators with non-specific reference links
Author_Institution :
Canadian Space Agency, St. Hubert, Que., Canada
Abstract :
In previous works on modeling of space manipulators, the satellite base or spacecraft is assumed to be at one end of the chain and the robot end-effector at the other. In this paper, a general model allowing any link on a floating kinematic chain to be either the spacecraft or the end-effector is developed and characterized. Properties discovered in the past about space manipulators are generalized to these systems with “non-specific” reference links
Keywords :
aerospace control; kinematics; manipulators; space vehicles; telerobotics; end-effector; floating kinematic chain; general model; non-specific reference links; space manipulators; spacecraft; Differential equations; Jacobian matrices; Kinematics; Manipulator dynamics; Orbital robotics; Payloads; Satellites; Solid modeling; Space vehicles; Vectors;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407650
