Continuous path control of space manipulators mounted on OMV

Yoji Umetani, Kazuya Yoshida

Research output: Contribution to journalArticlepeer-review

124 Citations (Scopus)


Theoretical analysis on the formulation of kinematics for the manipulator mounted on a satellite is presented. Firstly, to solve the inverse kinematics, the authors define a new generalized Jacobian matrix, and utilizing this generalized matrix, the problem can be treated analytically. Secondly, the authors verify the method proposed here in the simulation study. Thirdly, they also discuss on the several points which are indispensable for further investigations.

Original languageEnglish
Pages (from-to)981-986
Number of pages6
JournalActa Astronautica
Issue number12
Publication statusPublished - 1987 Dec


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