• DocumentCode
    1860783
  • Title

    Decoupled dynamics of Space manipulators

  • Author

    Jain, Abhinandan ; Rodriguez, Guillermo

  • Author_Institution
    Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
  • fYear
    1993
  • fDate
    2-6 May 1993
  • Firstpage
    609
  • Abstract
    Decoupled expressions for various dynamical quantities are derived based upon a dual approach to space manipulator dynamics. These expressions provide insights into the structure of dynamical quantities and provide a decoupled alternative to the conventional O(N) forward dynamics algorithm
  • Keywords
    aerospace computer control; computational complexity; duality (mathematics); dynamics; mobile robots; Space manipulators; computational complexity; decoupled dynamics; dual approach; Acceleration; Angular velocity; Equations; Fasteners; Joining processes; Kinematics; Laboratories; Manipulator dynamics; Propulsion; Space technology;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
  • Conference_Location
    Atlanta, GA
  • Print_ISBN
    0-8186-3450-2
  • Type

    conf

  • DOI
    10.1109/ROBOT.1993.291838
  • Filename
    291838
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1860783