A method for solving the inverse kinematics problem of 6-DOF space manipulator

1st International Symposium on Systems and Control in Aerospace and Astronautics

Volumn 2006, Issue , 2006, Pages 379-382

  Xie, Jian ^a   Yan, Shizuo ^a   Qiang, Wenyi ^a  

^a HARBIN INSTITUTE OF TECHNOLOGY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; MANIPULATORS; PROBLEM SOLVING; SPACE APPLICATIONS;

FREE-FLYING SPACE ROBOT (FFR); MECHANICAL ARM SYSTEMS; SPACE MANIPULATORS;

INVERSE KINEMATICS;

EID: 33750958735     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (5)

1. Vafa Z., and Dubowsky S., On the Dynamics of Manipulators in Space Using the Virtual Manipulator Approach, Proceedings, IEEE International Conference on Robotics and Automation, Raleigh, NC. 1987.
2. Paul R.P., Shimano B.E. and Mayer G., Kinematic Control Equations for Simple Manipulators.IEEE Trans SMC, 1981,11(6):449-4554.
3. Lee C.S.G. and M. Ziegler, A Geometric Approach in Solving the Inverse Kinematics of PUMA Robots. IEEE Trans. Aerospace and Electronic Systems, 1984(6):695-70
4. M.Murray, Zexiang Li and S.Shankar Sastry, A mathematical introduction to robotic manipulation. Boca Raton FL:CRC Press, 1994
5. Dinesh Manocha and John F. Canny, Efficient Inverse Kinematics for General 6R Manipulators. IEEE Transactions on Robotics and Automation, 1994, 10(5)