Multiobjective preimpact trajectory planning of space manipulator for self-assembling a heavy payload
To assemble a heavy payload to the spacecraft (free-floating base), the present study proposes a scheme of multiobjective trajectory planning for preimpact motion of redundant space manipulator (mounted on the base). Force impulse for self-assembly is derived as the function of joint angles/velociti...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2021-02-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881421990285 |