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.
|Number of pages||6|
|Journal||IEEE International Conference on Intelligent Robots and Systems|
|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