TY - GEN
T1 - Kinematics and simulations of space manipulator in three work modes
AU - Zhang, Fuhai
AU - Fu, Yili
AU - Yan, Shibo
AU - Wang, Shuguo
PY - 2010
Y1 - 2010
N2 - In recent years, research on space robotics has attracted considerable attention. Kinematics of the free-flying or free-floating space manipulator system, including a spacecraft and a manipulator mounted on the spacecraft, is a significant problem. In free-floating work mode, the spacecraft will move freely in response to the disturbances caused by the manipulator motions. From the view of application, change of the spacecraft attitude for the space manipulator system is not desirable. Therefore, it is of significance to adopt the free-floating with zero-disturbance spacecraft attitude work mode. This paper presents an overview of the kinematics of the space manipulator system. Position and velocity kinematics solutions in three work modes are analyzed. The kinematics differences among the three work modes are formulated. The simulation results validate the effectiveness of the kinematics solutions in the three work modes.
AB - In recent years, research on space robotics has attracted considerable attention. Kinematics of the free-flying or free-floating space manipulator system, including a spacecraft and a manipulator mounted on the spacecraft, is a significant problem. In free-floating work mode, the spacecraft will move freely in response to the disturbances caused by the manipulator motions. From the view of application, change of the spacecraft attitude for the space manipulator system is not desirable. Therefore, it is of significance to adopt the free-floating with zero-disturbance spacecraft attitude work mode. This paper presents an overview of the kinematics of the space manipulator system. Position and velocity kinematics solutions in three work modes are analyzed. The kinematics differences among the three work modes are formulated. The simulation results validate the effectiveness of the kinematics solutions in the three work modes.
UR - https://www.scopus.com/pages/publications/79952171956
U2 - 10.1109/ISSCAA.2010.5633417
DO - 10.1109/ISSCAA.2010.5633417
M3 - 会议稿件
AN - SCOPUS:79952171956
SN - 9781424460441
T3 - ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics
SP - 572
EP - 577
BT - ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics
T2 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics, ISSCAA2010
Y2 - 8 June 2010 through 10 June 2010
ER -