A real-time path planning of space manipulator saving consumed energy

This paper deals with a real- time path planning method of a manipulator mounted on the free-flying robot in space to save the energy consumed by the mechanical viscous friction forces and the armature's resistances of motors when operating the manipulator. For this purpose, a new concept of "manipulation ellipse under a constant consumed energy" defined in this paper, is used. The validity of the proposed method is confirmed numerically by computer simulation.<
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