具有非特定参考链路的空间机械臂分析

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407650

R. Hui

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引用次数: 2

摘要

在以往的空间机械臂建模工作中，假设卫星基座或航天器位于链的一端，机器人末端执行器位于链的另一端。本文建立了浮动运动链上任意连杆既可以是航天器也可以是末端执行器的通用模型，并对其进行了描述。过去发现的关于空间机械臂的性质被推广到这些具有“非特定”参考链接的系统。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Analysis of space manipulators with non-specific reference links

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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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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