@inproceedings{d240ec9699f0481cb22369f3116a3947,
title = "Analysis of dynamics of a floating-base N-DOF space manipulator system",
abstract = "This paper firstly provides a whole modeling process of floating-base space manipulator systems (FBSMS) and proposes a general formula of dynamical equation of two dimensional (2-D) and three dimensional (3-D) systems, which can help us obtain a better understanding of dynamical structure of FBSMS. Then, the fundamental reason why coupled dynamics phenomenon is raised, and decoupling analysis procedure of dynamics between a manipulator and a floating base is given. Finally, a contrast test is conducted to prove that motion of manipulator will decrease positioning accuracy of the end-effector in floating base case.",
keywords = "coupling, dynamics, floating-base, kinematics, manipulator",
author = "Zhengcang Chen and Yuquan Leng and Haitao Luo",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2nd International Conference on Control, Automation and Robotics, ICCAR 2016 ; Conference date: 28-04-2016 Through 30-04-2016",
year = "2016",
month = jun,
day = "7",
doi = "10.1109/ICCAR.2016.7486731",
language = "英语",
series = "Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "233--237",
booktitle = "Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016",
address = "美国",
}