Title :
Decoupled dynamics of Space manipulators
Author :
Jain, Abhinandan ; Rodriguez, Guillermo
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
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;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291838
