抄録
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.
| 本文言語 | English |
|---|---|
| 論文番号 | 593682 |
| ページ（範囲） | 679-684 |
| ページ数 | 6 |
| ジャーナル | IEEE International Conference on Intelligent Robots and Systems |
| 巻 | 1988-October |
| DOI | |
| 出版ステータス | Published - 1988 1月 1 |
| 外部発表 | はい |
| イベント | 1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 - Tokyo, Japan 継続期間: 1988 10月 31 → 1988 11月 2 |
ASJC Scopus subject areas
- 制御およびシステム工学
- ソフトウェア
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用