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Dynamically equivalent manipulator for space manipulator system. 1

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3 Author(s)
Bin Liang ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Yangsheng Xu ; Bergerman, M.

In this paper, we discuss the problem of how a free-floating space manipulator (SM) can be mapped to a conventional, fixed-base manipulator which preserves its dynamic and kinematic properties, and thus is called dynamically equivalent manipulator (DEM). The DEM concept allows one to use a conventional manipulator system to simulate a free-floating space manipulator connected to a space station, spacecraft, or satellite, without complicated experimental set-ups. This paper presents the theoretical development of the DEM concept, and demonstrates its dynamic and kinematic equivalence to the SM

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997

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