Dynamically Equivalent Manipulator for Space Manipulator Systems: Part 1
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 2765 - 2770, April, 1997
Abstract
In this paper, we discuss the problem of how a free-floating space manipulator (SM) can be mapped to a conventional, fixed-base manipulator which preserves its dynamic and kinematic properties, and thus is called dynamically equivalent manipulator (DEM). The DEM concept allows one to use a conventional manipulator system to simulate a free-floating space manipulator connected to a space station, spacecraft, or satellite, without complicated experimental set-ups. This paper presents the theoretical development of the DEM concept, and demonstrates its dynamic and kinematic equivalence to the SM.
BibTeX
@conference{Liang-1997-14337,author = {Bin Liang and Yangsheng Xu and Marcel Bergerman},
title = {Dynamically Equivalent Manipulator for Space Manipulator Systems: Part 1},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1997},
month = {April},
volume = {4},
pages = {2765 - 2770},
}
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