On the nature of control algorithms for space manipulators
- 1 January 1990
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1102-1108
- https://doi.org/10.1109/robot.1990.126142
Abstract
A study of the characteristics of control algorithms that can be applied to the motion control of space manipulators is reported. The results obtained show that nearly any control algorithm that can be applied to conventional terrestrial fixed-base manipulators, with a few additional conditions, can be directly applied to free-floating space manipulators. Barycenters are used to formulate efficiently the kinematiKeywords
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