A method for solving the inverse kinematics problem of 6-DOF space manipulator

Author

Xie, Jian ; Yan, Shizuo ; Qiang, Wenyi

Author_Institution

Space Control & Inertial Technol. Res. Center, Harbin Inst. of Technol.

fYear

2006

fDate

19-21 Jan. 2006

Lastpage

382

Abstract

The inverse kinematics is an important problem in the automatic control of space manipulator. We formulate the kinematics equations of 6-DOF space manipulator and study a method for solving the inverse kinematics problem in the paper, and the analytic solution of the inverse kinematics problem is also given. The method has avoided a large amount of inverse matrix multiplication, and needn´t the coordinate conversion of the end-effector. We use virtual prototyping to model a 6-dof mechanical arm system of free-flying space robot (FFR) and simulate the space manipulator system, it shows the validity of the method

Keywords

aerospace control; aerospace robotics; aerospace simulation; manipulator kinematics; position control; virtual prototyping; 6-DOF space manipulator; automatic control; free-flying space robot; inverse kinematics problem; inverse matrix multiplication; mechanical arm system; virtual prototyping; Attitude control; Control systems; Manipulators; Motion control; Orbital robotics; Robot kinematics; Satellite broadcasting; Space stations; Space technology; Space vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on

Conference_Location

Harbin

Print_ISBN

0-7803-9395-3

Type

conf

DOI

10.1109/ISSCAA.2006.1627648

Filename

1627648