Extended operational space formulation for serial-to-parallel chain (branching) manipulators
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1 (10504729) , 1056-1061
- https://doi.org/10.1109/robot.1995.525421
Abstract
This paper extends the operational space formulation to the important class of serial-to-parallel chain (branching) manipulators. The various models and concepts developed in operational space, such as dynamically consistent force/torque decomposition for control of redundant manipulators and the augmented object model for cooperative manipulator systems, are shown to extend directly. Dynamic modeling and experimental results for a free-flying, two-arm space robot are presented to validate this extension.Keywords
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