Continuous path control of space manipulators mounted on OMV

Yoji Umetani; Kazuya Yoshida

doi:10.1016/0094-5765(87)90022-1

Continuous path control of space manipulators mounted on OMV

Yoji Umetani, Kazuya Yoshida

ENG - Aerospace Engineering

Tokyo Institute of Technology

Research output: Contribution to journal › Article › peer-review

124 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	981-986
Number of pages	6
Journal	Acta Astronautica
Volume	15
Issue number	12
DOIs	https://doi.org/10.1016/0094-5765(87)90022-1
Publication status	Published - 1987 Dec

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title = "Continuous path control of space manipulators mounted on OMV",

abstract = "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.",

author = "Yoji Umetani and Kazuya Yoshida",

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AU - Yoshida, Kazuya

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AB - 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.

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Continuous path control of space manipulators mounted on OMV

Abstract

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