Introduction of redundant arms for manipulation in space

D. Nenchev, K. Yoshida, Y. Umetani

Research output: Contribution to journalConference articlepeer-review

24 Citations (Scopus)


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 languageEnglish
Article number593682
Pages (from-to)679-684
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
Publication statusPublished - 1988
Event1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 - Tokyo, Japan
Duration: 1988 Oct 311988 Nov 2


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