Satellite-mounted robot manipulators- new kinematics and reaction moment compensation
International Journal of Robotics Research
Model-based control of a robot manipulator
Model-based control of a robot manipulator
The kinematics and dynamics of space manipulators: the virtual manipulator approach
International Journal of Robotics Research
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Uncertainties in the control of robot manipulators
Uncertainties in the control of robot manipulators
Research on mobile manipulator tip-over stability and compensation
ROCOM'08 Proceedings of the 8th WSEAS International Conference on Robotics, Control and Manufacturing Technology
Some issues of controlling the free-flying manipulative space robot
Automation and Remote Control
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Robotic manipulators mounted on spacecraft experience a number of kinematic, dynamic, and control problems because the motion of the spacecraft is affected by the robot motion. In this paper, the general three dimensional equations of motion are derived for an n link manipulator mounted on a non-fixed base object. Instead of performing a single inverse kinematic calculation at the beginning of a movement to determine the required joint setpoints, multiple inverse kinematic updates are done throughout a movement. The updating sequence is determined by an optimal inverse kinematic updating algorithm. This motion control algorithm is based on experimental simulation results performed in Matlab and a set of performance indices that are used as guidelines. Simple PD joint controllers and a special joint trajectory generator are used for servoing the manipulator joints for a planar robot application. The derived motion control techniques incorporate the base motion without base motion control.