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Kinematic control of redundant free-floating robotic systems

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This paper is aimed at presenting solution algorithms to the inverse kinematics of a space manipulator mounted on a free-floating spacecraft. The reaction effects of the manipulator's motion on the spacecraft are taken into account by means of the so-called generalized Jacobian. Redundancy of the system with respect to the number of task variables for spacecraft attitude and manipulator end-effector pose is considered. Also, the problem of both spacecraft attitude and end-effector orientation representation is tackled by means of a non-minimal singularity-free representation: the unit quaternion. Depending on the nature of the task for the spacecraft/manipulator system, a number of closed-loop inverse kinematics algorithms are proposed. Case studies are developed for a system of a spacecraft with a six-joint manipulator attached.
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Keywords: INVERSE KINEMATICS; KINEMATIC CONTROL; REDUNDANT MANIPULATORS; SPACE MANIPULATORS; UNIT QUATERNION

Document Type: Research Article

Affiliations: Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy

Publication date: 2001-07-01

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