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Continuous path control of space manipulators mounted on OMV

โœ Scribed by Yoji Umetani; Kazuya Yoshida

Publisher
Elsevier Science
Year
1987
Tongue
English
Weight
379 KB
Volume
15
Category
Article
ISSN
0094-5765

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โœฆ Synopsis

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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