DocumentCode
3322851
Title
Analysis of space manipulators with non-specific reference links
Author
Hui, Raymond
Author_Institution
Canadian Space Agency, St. Hubert, Que., Canada
Volume
3
fYear
1994
fDate
12-16 Sep 1994
Firstpage
1539
Abstract
In previous works on modeling of space manipulators, the satellite base or spacecraft is assumed to be at one end of the chain and the robot end-effector at the other. In this paper, a general model allowing any link on a floating kinematic chain to be either the spacecraft or the end-effector is developed and characterized. Properties discovered in the past about space manipulators are generalized to these systems with “non-specific” reference links
Keywords
aerospace control; kinematics; manipulators; space vehicles; telerobotics; end-effector; floating kinematic chain; general model; non-specific reference links; space manipulators; spacecraft; Differential equations; Jacobian matrices; Kinematics; Manipulator dynamics; Orbital robotics; Payloads; Satellites; Solid modeling; Space vehicles; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location
Munich
Print_ISBN
0-7803-1933-8
Type
conf
DOI
10.1109/IROS.1994.407650
Filename
407650
Link To Document