Introduction of redundant arms for manipulation in space

D. Nenchev; K. Yoshida; Y. Umetani

doi:10.1109/IROS.1988.593682

Introduction of redundant arms for manipulation in space

D. Nenchev, K. Yoshida, Y. Umetani

ENG - Aerospace Engineering

Research output: Contribution to journal › Conference article › peer-review

24 Citations (Scopus)

Abstract

The utilization of a kinematically redundant manipulator arm for manipulation in space is discussed. Through the redundancy, reaction forces exerted on the free-flying supporting base are minimized or avoided at all. The method is based on a kinematic model, comprising expressions for the distribution of masses in the satellite/manipulator system. The redundancy is resolved by a local technique through pseudo-inverse matrices- Computer simulations have been carried out for some manipulation tasks like path tracking with simultaneous maintenance of a fixed satellite atti-tude; attitude control through manipulator motions while keeping the end-link fixed or while tracking a continuous path.

Original language	English
Article number	593682
Pages (from-to)	679-684
Number of pages	6
Journal	IEEE International Conference on Intelligent Robots and Systems
Volume	1988-October
DOIs	https://doi.org/10.1109/IROS.1988.593682
Publication status	Published - 1988
Event	1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 - Tokyo, Japan Duration: 1988 Oct 31 → 1988 Nov 2

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10.1109/IROS.1988.593682

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abstract = "The utilization of a kinematically redundant manipulator arm for manipulation in space is discussed. Through the redundancy, reaction forces exerted on the free-flying supporting base are minimized or avoided at all. The method is based on a kinematic model, comprising expressions for the distribution of masses in the satellite/manipulator system. The redundancy is resolved by a local technique through pseudo-inverse matrices- Computer simulations have been carried out for some manipulation tasks like path tracking with simultaneous maintenance of a fixed satellite atti-tude; attitude control through manipulator motions while keeping the end-link fixed or while tracking a continuous path.",

author = "D. Nenchev and K. Yoshida and Y. Umetani",

note = "Publisher Copyright: {\textcopyright} 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).; 1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 ; Conference date: 31-10-1988 Through 02-11-1988",

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AU - Nenchev, D.

AU - Yoshida, K.

AU - Umetani, Y.

PY - 1988

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N2 - The utilization of a kinematically redundant manipulator arm for manipulation in space is discussed. Through the redundancy, reaction forces exerted on the free-flying supporting base are minimized or avoided at all. The method is based on a kinematic model, comprising expressions for the distribution of masses in the satellite/manipulator system. The redundancy is resolved by a local technique through pseudo-inverse matrices- Computer simulations have been carried out for some manipulation tasks like path tracking with simultaneous maintenance of a fixed satellite atti-tude; attitude control through manipulator motions while keeping the end-link fixed or while tracking a continuous path.

AB - The utilization of a kinematically redundant manipulator arm for manipulation in space is discussed. Through the redundancy, reaction forces exerted on the free-flying supporting base are minimized or avoided at all. The method is based on a kinematic model, comprising expressions for the distribution of masses in the satellite/manipulator system. The redundancy is resolved by a local technique through pseudo-inverse matrices- Computer simulations have been carried out for some manipulation tasks like path tracking with simultaneous maintenance of a fixed satellite atti-tude; attitude control through manipulator motions while keeping the end-link fixed or while tracking a continuous path.

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M3 - Conference article

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VL - 1988-October

SP - 679

EP - 684

JO - IEEE International Conference on Intelligent Robots and Systems

JF - IEEE International Conference on Intelligent Robots and Systems

M1 - 593682

T2 - 1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988

Y2 - 31 October 1988 through 2 November 1988

ER -

Introduction of redundant arms for manipulation in space

Abstract

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