Abstract: This paper studies the collision problem of a robot manipulator and presents a method to minimize the impact force by pre-impact configuration designing. First, a general dynamic model of a robot manipulator capturing a ...

Abstract: By means of a recursive formulation method, a generalized impulse–momentumbalance method, and a constraint violation elimination (CVE) method, we propose a new global simulation method for flexible multibody systems with ...

Abstract: This paper presents a method to minimize the base attitude disturbance of a space robot during target capture. First, a general dynamic model of a free-floating space robot capturing a target is established using spatial ...

Abstract: This paper studies the inverse kinematics (IKs) of a space robot with a controlled-floating base. Different from the traditional space robot which has a free-floating base, the momentum conservation is no longer satisfied ...