论文信息 - Space manipulator motions with no satellite attitude disturbances

Space manipulator motions with no satellite attitude disturbances

An algorithm that eliminates the satellite attitude disturbances due to manipulator motions is presented. This algorithm is analyzed for a 9-DOF (degree of freedom) and a 6-DOF manipulator. It is shown that both of the manipulators' motions will not result in satellite attitude disturbances. The 9-DOF redundant manipulator end-effector can go through any path with any desired orientation. The 6-DOF manipulator can only go through a desired path, and its end-effector orientation changes according to the manipulator dynamics.<<ETX>>

Z. Vafa | Z. Vafa

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