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Autor(en):
Wang, Mingming; Walter, Ulrich 
Titel:
Joint-Space Dynamics Algorithm of Space Manipulators with Tree Structure using Inertia Mapping Matrix 
Abstract:
This study, relevant to the development of appropriate trajectory planning and control algorithms, focuses on a modeling scheme that uses the concepts of graph theory and spatial notation for calculating the joint-space dynamics of tree structure space manipulator systems. Firstly, the configuration description of space manipulators using graph theory, the parent array, and path matrix is introduced. Secondly, based on the concept of generalized link, the spatial notation and composite rigid bod...    »
 
Herausgeber:
IAF 
Kongress- / Buchtitel:
Proceedings of the 64th International Astronautical Congress 
Jahr:
2013