| contributor author | F. Xi | |
| contributor author | R. G. Fenton | |
| date accessioned | 2017-05-08T23:53:01Z | |
| date available | 2017-05-08T23:53:01Z | |
| date copyright | June, 1997 | |
| date issued | 1997 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26234#340_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/118446 | |
| description abstract | A spacecraft-manipulator system is considered in this paper. Dynamic singularities are the singularities occurring when inverting the system generalized Jacobian required by the conventional method for solving the inverse kinematics of space manipulators. To avoid dynamic singularities, three methods are developed here based on the manipulator Jacobian, instead of the system generalized Jacobian. These methods are compared with the conventional method on the basis of their convergence rates, accuracies and sensitivities. Results of this comparison are presented in this paper. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | On the Inverse Kinematics of Space Manipulators for Avoiding Dynamic Singularities | |
| type | Journal Paper | |
| journal volume | 119 | |
| journal issue | 2 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2801262 | |
| journal fristpage | 340 | |
| journal lastpage | 346 | |
| identifier eissn | 1528-9028 | |
| keywords | Kinematics | |
| keywords | Manipulators AND Space vehicles | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1997:;volume( 119 ):;issue: 002 | |
| contenttype | Fulltext | |