{"title":"Analysis of space manipulators with non-specific reference links","authors":"R. Hui","doi":"10.1109/IROS.1994.407650","DOIUrl":null,"url":null,"abstract":"In previous works on modeling of space manipulators, the satellite base or spacecraft is assumed to be at one end of the chain and the robot end-effector at the other. In this paper, a general model allowing any link on a floating kinematic chain to be either the spacecraft or the end-effector is developed and characterized. Properties discovered in the past about space manipulators are generalized to these systems with \"non-specific\" reference links.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1994.407650","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
In previous works on modeling of space manipulators, the satellite base or spacecraft is assumed to be at one end of the chain and the robot end-effector at the other. In this paper, a general model allowing any link on a floating kinematic chain to be either the spacecraft or the end-effector is developed and characterized. Properties discovered in the past about space manipulators are generalized to these systems with "non-specific" reference links.<>
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