论文信息 - A contribution to the dynamics of free-flying space manipulators

A contribution to the dynamics of free-flying space manipulators

This paper deals with the analysis of the motion of free flying space manipulators. One of the problems of this class of robots is that any movement of the joints produces a rotation of its base. This should be avoided. Approximate solutions to this problem have been proposed using the concept of the disturbance map. The paper presents an exact solution showing how a proper design of the robot introduces some dynamic singularities which allow us to plan sequences of movements that do not affect the orientation of the robot base.

[1] Fengfeng Xi,et al. Inverse kinematics of free-floating space robots with minimum dynamic disturbance , 1996, Robotica.

[2] Steven Dubowsky,et al. Path planning for space manipulators to minimize spacecraft attitude disturbances , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[3] S. Agrawal,et al. Planning motions of a dual-arm free-floating manipulator keeping the base inertially fixed , 1995 .

[4] Steven Dubowsky,et al. On the dynamics of manipulators in space using the virtual manipulator approach , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[5] Y. Chen,et al. Optimal trajectory planning for a space robot docking with a moving target via homotopy algorithms , 1995, J. Field Robotics.

[6] Vinod J. Modi. Spacecraft attitude dynamics: Evolution and current challenges☆ , 1990 .

[7] Shin-Min Song,et al. A Study of Reactional Force Compensation Based on Three-Degree-of Freedom Parallel Platforms , 1995, J. Field Robotics.

[8] Steven Dubowsky,et al. Coordinated manipulator/spacecraft motion control for space robotic systems , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.