| タイトル | On the dynamic singularities in the control of free-floating space manipulators |
| 著者（英） | Dubowsky, S.; Papadopoulos, E. |
| 著者所属（英） | Massachusetts Inst. of Tech. |
| 発行日 | 1989-01-01 |
| 言語 | eng |
| 内容記述 | It is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a dynamically singular position, the manipulator is unable to move its end effector in some direction. This problem appears in any free-floating space manipulator system that permits the vehicle to move in response to manipulator motion without correction from the vehicle's attitude control system. Dynamic singularities are functions of the dynamic properties of the system; their existence and locations cannot be predicted solely from the kinematic structure of the manipulator, unlike the singularities for fixed base manipulators. It is also shown that the location of these dynamic singularities in the workplace is dependent upon the path taken by the manipulator in reaching them. Dynamic singularities must be considered in the control, planning and design of free-floating space manipulator systems. A method for calculating these dynamic singularities is presented, and it is shown that the system parameters can be selected to reduce the effect of dynamic singularities on a system's performance. |
| NASA分類 | MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT |
| レポートNO | 91A38748 |
| 権利 | Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/347951 |
