A unified approach to space robot kinematics

IEEE Transactions on Robotics and Automation

Volumn 12, Issue 3, 1996, Pages 401-405

  Saha, Subir Kumar ^a,b  

^a INDIAN INSTITUTE OF TECHNOLOGY MADRAS   (India)

^b IEEE

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; END EFFECTORS; KINEMATICS; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MOTION CONTROL; SPACECRAFT; VELOCITY;

GENERALIZED JACOBIAN MATRIX; MOMENTA; PRIMARY BODY; SPACE ROBOTS;

ROBOTS;

EID: 0030172099     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.499822     Document Type: Article

References (7)

1. R. Mukherjee and Y. Nakamura, "Formulation and efficient computation of inverse dynamics of space robots," IEEE Trans. Robot. Automat., vol. 8, no. 3, pp. 400-406, 1992.
2. E. Papadopoulos and S. Dubowsky, "On the nature of control algorithms for free-floating space manipulators," IEEE Trans. Robot. Automat., vol. 7, no. 6, pp. 750-758, 1991.
3. Y. Umetani and K. Yoshida, "Resolved motion rate conrol of space manipulators with Generalized Jacobian Matrix," IEEE Trans. Robot. Automat., vol. 5, no. 3, pp. 303-314, 1989.
4. K. Yamada and K. Tsuchiya, "Efficient computation algorithms for manipulator control of a space robot," Soc. Instrument Contr. Eng. Trans., vol. 26, no. 7, pp. 765-772, 1990 (in Japanese).
5. Y. Yokokohji, T. Toyoshima, and T. Yoshikawa, "Efficient computational algorithms for trajectory control of free-flying space robots with multiple arms," IEEE Trans. Robot. Automat., vol. 9, no. 5, pp. 571-580, 1993.
6. K. Tsuchiya and T. Ohga, "Inverse kinematics and dynamics of space manipulators," in Proc. 3rd Workshop Astrodynamics and Flight Mechanics, Sagamihara, Japan, Sept. 27-28, 1993, pp. 174-179.
7. L. Meirovitch, Methods of Analytical Dynamics. New York; McGraw-Hill, 1970.