Introduction of redundant arms for manipulation in space

D. Nenchev; K. Yoshida; Y. Umetani

doi:10.1109/IROS.1988.593682

Introduction of redundant arms for manipulation in space

D. Nenchev, K. Yoshida, Y. Umetani

Research output: Contribution to journal › Conference article › peer-review

22 Citations (Scopus)

Abstract

The utilization of a kinematically redundant manipulator arm for manipulation in space is discussed. Through the redundancy, reaction forces exerted on the free-flying supporting base are minimized or avoided at all. The method is based on a kinematic model, comprising expressions for the distribution of masses in the satellite/manipulator system. The redundancy is resolved by a local technique through pseudo-inverse matrices- Computer simulations have been carried out for some manipulation tasks like path tracking with simultaneous maintenance of a fixed satellite atti-tude; attitude control through manipulator motions while keeping the end-link fixed or while tracking a continuous path.

Original language	English
Article number	593682
Pages (from-to)	679-684
Number of pages	6
Journal	IEEE International Conference on Intelligent Robots and Systems
Volume	1988-October
DOIs	https://doi.org/10.1109/IROS.1988.593682
Publication status	Published - 1988 Jan 1
Externally published	Yes
Event	1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 - Tokyo, Japan Duration: 1988 Oct 31 → 1988 Nov 2

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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AU - Umetani, Y.

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N2 - The utilization of a kinematically redundant manipulator arm for manipulation in space is discussed. Through the redundancy, reaction forces exerted on the free-flying supporting base are minimized or avoided at all. The method is based on a kinematic model, comprising expressions for the distribution of masses in the satellite/manipulator system. The redundancy is resolved by a local technique through pseudo-inverse matrices- Computer simulations have been carried out for some manipulation tasks like path tracking with simultaneous maintenance of a fixed satellite atti-tude; attitude control through manipulator motions while keeping the end-link fixed or while tracking a continuous path.

AB - The utilization of a kinematically redundant manipulator arm for manipulation in space is discussed. Through the redundancy, reaction forces exerted on the free-flying supporting base are minimized or avoided at all. The method is based on a kinematic model, comprising expressions for the distribution of masses in the satellite/manipulator system. The redundancy is resolved by a local technique through pseudo-inverse matrices- Computer simulations have been carried out for some manipulation tasks like path tracking with simultaneous maintenance of a fixed satellite atti-tude; attitude control through manipulator motions while keeping the end-link fixed or while tracking a continuous path.

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