Kinematic Modeling for a Class of Free-Floating Space Robots
This paper investigates the kinematics of free-floating space robots during motion planning for target capture. First, generalized kinematic mapping of free-floating space robots with open-chain multibody structures is established. To predict the reaction movement of spacecraft caused by the motions...
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2017-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/7962144/ |
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doaj-de405da67f50496a96d7723cd5930d122021-03-29T20:16:23ZengIEEEIEEE Access2169-35362017-01-015123891240310.1109/ACCESS.2017.27214267962144Kinematic Modeling for a Class of Free-Floating Space RobotsXuanzhen Chen0https://orcid.org/0000-0003-4042-8944Shiyin Qin1Beihang University, Beijing, ChinaBeihang University, Beijing, ChinaThis paper investigates the kinematics of free-floating space robots during motion planning for target capture. First, generalized kinematic mapping of free-floating space robots with open-chain multibody structures is established. To predict the reaction movement of spacecraft caused by the motions of its manipulators, a dynamic coupling matrix concept, the main contribution of this paper, is proposed to explicitly express position kinematics. The feasibility and effectiveness of the presented numerical implementation algorithms are then verified by solving forward and inverse kinematics problems. Then, applications in workspace analysis and motion planning are described. Finally, a discussion of the framework is presented.https://ieeexplore.ieee.org/document/7962144/Dynamic couplingnonlinear systemposition kinematicsspace robots |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Xuanzhen Chen Shiyin Qin |
| spellingShingle |
Xuanzhen Chen Shiyin Qin Kinematic Modeling for a Class of Free-Floating Space Robots IEEE Access Dynamic coupling nonlinear system position kinematics space robots |
| author_facet |
Xuanzhen Chen Shiyin Qin |
| author_sort |
Xuanzhen Chen |
| title |
Kinematic Modeling for a Class of Free-Floating Space Robots |
| title_short |
Kinematic Modeling for a Class of Free-Floating Space Robots |
| title_full |
Kinematic Modeling for a Class of Free-Floating Space Robots |
| title_fullStr |
Kinematic Modeling for a Class of Free-Floating Space Robots |
| title_full_unstemmed |
Kinematic Modeling for a Class of Free-Floating Space Robots |
| title_sort |
kinematic modeling for a class of free-floating space robots |
| publisher |
IEEE |
| series |
IEEE Access |
| issn |
2169-3536 |
| publishDate |
2017-01-01 |
| description |
This paper investigates the kinematics of free-floating space robots during motion planning for target capture. First, generalized kinematic mapping of free-floating space robots with open-chain multibody structures is established. To predict the reaction movement of spacecraft caused by the motions of its manipulators, a dynamic coupling matrix concept, the main contribution of this paper, is proposed to explicitly express position kinematics. The feasibility and effectiveness of the presented numerical implementation algorithms are then verified by solving forward and inverse kinematics problems. Then, applications in workspace analysis and motion planning are described. Finally, a discussion of the framework is presented. |
| topic |
Dynamic coupling nonlinear system position kinematics space robots |
| url |
https://ieeexplore.ieee.org/document/7962144/ |
| work_keys_str_mv |
AT xuanzhenchen kinematicmodelingforaclassoffreefloatingspacerobots AT shiyinqin kinematicmodelingforaclassoffreefloatingspacerobots |
| _version_ |
1724195019635556352 |