Title :
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.
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;
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
DOI :
10.1109/ISSCAA.2006.1627648
