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Autor(en):
Wang, Mingming; Walter, Ulrich 
Titel:
Kinematics Analysis of Free-Floating Redundant Space Manipulator based on Momentum Conservation 
Abstract:
This paper focuses on the kinematics analysis of free-floating space redundant manipulator at velocity level based on the momentum conservation law. Firstly, a general solution for inverse kinematics is proposed based on the concept of task priority. Secondly, in terms of pseudo-inverse and null-space components of the inertia matrix, the manipulator Jacobian matrix and the generalized Jacobian matrix, four different solutions of inverse kinematics at velocity level are derived when only the bas...    »
 
Herausgeber:
Raumfahrt, Deutsches Zentrum für Luft- und 
Kongress- / Buchtitel:
Proceedings of the 5th International Conference on Spacecraft Formation Flying Missions and Technologies 
Jahr:
2013