Cart (Loading....) | Create Account
Close category search window
 

Efficient computation scheme for the kinematics and inverse dynamics of a satellite-based manipulator

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)
Nagashima, F. ; Fujitsu Lab. Ltd., Kawasaki, Japan ; Nakamura, Y.

The authors propose an efficient computation scheme for the kinematics and inverse dynamics of a space manipulator. The simulation of the manipulator by using the equation of motion directly requires intensive calculation. The scheme proposed in the paper uses the kinematic conditions of the adjoined links and their derivatives with respect to time. The linear and angular velocities and accelerations of the links are separated into two parts, one dependent on the motion of the satellite and the other the remainder whose values are determined by a recursive algorithm. The conservation laws of the total linear and angular momentums and the conditions for the total force and torque balance are used to determine the satellite body's linear and angular velocities and accelerations. These, in turn, make it possible to solve the kinematics and inverse dynamics of a satellite-based manipulator. The amount of calculations for the kinematics and inverse dynamics is proportional to the number of manipulator links

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.