Theoretical analysis on the formulation of kinematics for the manipulator mounted on a satellite is presented. Firstly, to solve the inverse kinematics, the authors define a new generalized Jacobian matrix, and utilizing this generalized matrix, the problem can be treated analytically. Secondly, the authors verify the method proposed here in the simulation study. Thirdly, they also discuss on the several points which are indispensable for further investigations.
ASJC Scopus subject areas
- Aerospace Engineering