On the kinematics of multiple manipulator space free-flyers and their computation

DOI10.1002/(SICI)1097-4563(199804)15:4%3C207::AID-ROB3%3E3.0.CO;2-TMaRDI QIDQ4269697zbMATH OpenOpenAlexFDO

Authors S. A. A. Moosavian, Evangelos Papadopoulos

Publication date 14 February 2000

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199804)15:4%3C207::aid-rob3%3E3.0.co;2-t

zbMATH Keywords

direct path methodbarycentric vector approachspatial multiple manipulator free-flying robot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Artificial intelligence for robotics (68T40) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

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(6)

• Rigid-flexible interactive dynamics modelling approach
• Passivity based adaptive Jacobian tracking for free-floating space manipulators without using spacecraft acceleration
• Adaptive coordinated control of uncertain free-floating space manipulators with prescribed control performance
• Dynamics modelling and simulation environment for rapid manipulator design
• Determination of workspace and required initial position of free-flying space manipulator at target capture
• About a basis-free vectorial perspective manipulator dynamic parameters I: Tree structures

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