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## Dynamic Singularities in Free-Floating Space Manipulators (1993)

Venue: | ASME J. Dyn.Syst., Meas., Contr.,115:1 |

Citations: | 9 - 4 self |

### Citations

827 |
Introduction to Robotics and Mechanics Control
- Craig
- 1989
(Show Context)
Citation Context ...ttitude θ equal to 21 ° using a simple Transposed Jacobian Control algorithm,sDYNAMIC SINGULARITIES IN FR./FL. SPACE MANIPULATORS augmented by a velocity feedback term for increased stability margins =-=[17]-=-. This control algorithm assumes that the end-effector inertial position and velocity, x and x . , can be calculated or measured directly. Assuming x and x . are measured, the control law is: τ = J *T... |

205 | Spacecraft Attitude Dynamics - Hughes - 1986 |

36 |
On the dynamics of manipulators in space using the virtual manipulator approach
- Vafa, Dubowsky
- 1987
(Show Context)
Citation Context ...ontrol fuel, limiting the useful life of the system [1]. In the second category, the spacecraft attitude is controlled, although not its translation, by using reaction wheels or attitude control jets =-=[2,4]-=-. The control of these systems is somewhat more complicated than that of the first category, although a technique called the Virtual Manipulator (VM) can be used to simplify the problem [4-7]. The thi... |

32 |
On the dynamics of space manipulators using the virtual manipulator, with applications to path planning
- Vafa, Dubowsky
- 1990
(Show Context)
Citation Context ...g system in order to conserve fuel or electrical power [4,6-11]. Such a system permits the spacecraft to move freely in response to manipulator motions. These too can be modeled using the VM approach =-=[6,7]-=-. Past work on the control of free-floating systems generally has proposed particular algorithms for free-floating systems and attempted to show their validity on a case by case basis [8-11]. However,... |

23 |
The Dynamical Attitude Equation for an n-Body Satellite
- Hooker, Margulies
- 1965
(Show Context)
Citation Context ... freefloating space manipulators. The existence of dynamic singularities is shown first by writing the kinematics and conservation equations in a compact, explicit form through the use of barycenters =-=[12,13]-=-. Then it is shown that the end-effector inertial linear and angular velocities can be expressed solely as a function of the velocities of the manipulator controlled joint angles, and that they do not... |

21 |
Experimental study on two dimensional free-flying robot satellite model
- Umetani, Yoshida
- 1989
(Show Context)
Citation Context ...se manipulator control algorithms which are functions of manipulator kinematics only. For example, Umetani and Yoshida proposed a resolved rate controller based on J * , called a Generalized Jacobian =-=[9]-=-. However, the construction of J * depends on a system’s dynamics. Here, the kinematic and dynamic relationships are formulated for the freefloating manipulator system depicted in Figure 1 and used to... |

18 |
The kinematic and dynamics of space manipulator: The virtual manipulator approach
- Vafa, Dubowsky
- 1989
(Show Context)
Citation Context ...g system in order to conserve fuel or electrical power [4,6-11]. Such a system permits the spacecraft to move freely in response to manipulator motions. These too can be modeled using the VM approach =-=[6,7]-=-. Past work on the control of free-floating systems generally has proposed particular algorithms for free-floating systems and attempted to show their validity on a case by case basis [8-11]. However,... |

18 |
Nonholonomic Path Planning of Space Robots
- Nakamura, Mukherjee
- 1989
(Show Context)
Citation Context ...ing systems and attempted to show their validity on a case by case basis [8-11]. However, algorithms which do not take into full account the spacecraft kinematics or dynamics have occasional problems =-=[10,11]-=-. This paper shows that these problems may be attributed to dynamic singularities which are not found in earth bound manipulators. These dynamic singularities must be considered in the design, plannin... |

17 | Experiments on the control of a satellite manipulator - Alexander, Cannon - 1987 |

15 |
On the dynamic singularities in the control of free-floating space manipulators
- Papadopoulos, Dubowsky
- 1989
(Show Context)
Citation Context ...ase where the manipulator acts in a plane, it can be shown that if the manipulator is mounted at the spacecraft’s center of mass, the PIW is equal to the reachable workspace and the PDW is eliminated =-=[14,15]-=-. For the example discussed in Section IV, if 0 * r or α are zero, the only singular configuration that 0 exists is at q equal to kπ (k=0,±1,...), see Equation (41). This is a kinematic 2 singularity ... |

12 |
Sensory feedback control for space manipulators
- Masutani, Miyazaki, et al.
- 1989
(Show Context)
Citation Context ...ing systems and attempted to show their validity on a case by case basis [8-11]. However, algorithms which do not take into full account the spacecraft kinematics or dynamics have occasional problems =-=[10,11]-=-. This paper shows that these problems may be attributed to dynamic singularities which are not found in earth bound manipulators. These dynamic singularities must be considered in the design, plannin... |

9 |
The Control of Space Manipulators Subject to Spacecraft Attitude Control Saturation Limits
- Dubowsky, Vance, et al.
- 1989
(Show Context)
Citation Context ...such systems may be limited because manipulator motions can both saturate the reaction jet system and consume relatively large amounts of attitude control fuel, limiting the useful life of the system =-=[1]-=-. In the second category, the spacecraft attitude is controlled, although not its translation, by using reaction wheels or attitude control jets [2,4]. The control of these systems is somewhat more co... |

9 |
On the Dynamics and Control of Space Manipulators
- Papadopoulos
- 1990
(Show Context)
Citation Context ...e barycentric vectors v_ ik are given by the following selection law: v_ ik ≡ ⎪ ⎧ ⎨ ⎩⎪ * r_ i<k i * c_ i i=k * l_ i>k i ⎪ ⎫ ⎬ ⎭⎪ (12)sDYNAMIC SINGULARITIES IN FR./FL. SPACE MANIPULATORS See Reference =-=[15]-=-. Equation (11) reveals an interesting characteristic of space manipulators, namely that the position of the center of mass of link k in inertial space depends on the position of all links, including ... |

7 | Satellitemounted robot manipulators—new kinematics and reaction moment compensation - Longman, Linderg, et al. - 1987 |

5 |
Dynamics of Rigid Bodies
- Wittenburg
- 1977
(Show Context)
Citation Context ... freefloating space manipulators. The existence of dynamic singularities is shown first by writing the kinematics and conservation equations in a compact, explicit form through the use of barycenters =-=[12,13]-=-. Then it is shown that the end-effector inertial linear and angular velocities can be expressed solely as a function of the velocities of the manipulator controlled joint angles, and that they do not... |

3 |
Path Planning for Space Manipulators to Minimize the Use of Attitude
- Dubowsky, Torres
- 1990
(Show Context)
Citation Context ...ontrol fuel, limiting the useful life of the system [1]. In the second category, the spacecraft attitude is controlled, although not its translation, by using reaction wheels or attitude control jets =-=[2,4]-=-. The control of these systems is somewhat more complicated than that of the first category, although a technique called the Virtual Manipulator (VM) can be used to simplify the problem [4-7]. The thi... |

2 |
A Virtual Manipulator for Space Robotic Systems
- Dubowsky, Vafa
- 1987
(Show Context)
Citation Context ...hown by using the concept of the Virtual Manipulator. Vafa describes a constrained workspace, one where all points can be reached if the attitude of the spacecraft is controlled, but not its position =-=[5]-=-. This workspace is a sphere with its center at the system’s CM. However, it can be shown that if the attitude is not controlled, as for a free-floating system, then points in this space can still alw... |