23 May 2011 Manipulability analysis of a two-link space robot using differential geometry method
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Abstract
Space robot is a special robotic system which is expected to perform important tasks in space, like servicing satellites. But any motion of robotic manipulator will disturb its supporting vehicle in space due to the dynamic coupling. Moreover, the evaluating method of manipulability used on ground can not be directly applied to the space robot. A volume element concept is developed to evaluate the manipulability and disturbance of a space robot system. This paper shows the application of volume element method in two-link planar space robot. The volume element method is a new theoretical approach for the research and analysis of space robot system.
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Yanheng Zhang, Yanheng Zhang, Hanxu Sun, Hanxu Sun, Qingxuan Jia, Qingxuan Jia, Jingzhou Song, Jingzhou Song, } "Manipulability analysis of a two-link space robot using differential geometry method", Proc. SPIE 8044, Sensors and Systems for Space Applications IV, 80440U (23 May 2011); doi: 10.1117/12.883782; https://doi.org/10.1117/12.883782
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