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Title:

Kinematics Analysis of Free-Floating Redundant Space Manipulator based on Momentum Conservation

Author(s):
Wang, Mingming; Walter, Ulrich
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...     »
Editor:
Raumfahrt, Deutsches Zentrum für Luft- und
Book / Congress title:
Proceedings of the 5th International Conference on Spacecraft Formation Flying Missions and Technologies
Year:
2013
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