By Topic

On the dynamics of manipulators in space using the virtual manipulator approach

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Vafa, Z. ; Massachusetts Institute of Technology Cambridge, MA ; Dubowsky, S.

Robotic manipulators carried by future spacecraft are expected to perform important tasks in space, like servicing satellites. Such applications will encounter problems due to the dynamic coupling between the manipulator and the spacecraft. A Virtual Manipulator (VM) concept has been developed recently for the modelling of manipulators working in space. This paper shows that the VM facilitates planning and control of the motions of manipulators mounted on spacecraft, that minimizes the degrading consequences of manipulator/vehicle dynamic interactions. The VM is a new theoretical approach for the design and development of future space manipulator systems.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987