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Kinematics of a Trinal-Branch Space Robotic Manipulator with Redundancy 被引量:1
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作者 贾庆轩 叶平 +1 位作者 孙汉旭 宋荆洲 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2005年第4期378-384,共7页
This paper presents a trinal-branch space robotic manipulator with redundancy, due to hash application environments, such as in the station. One end-effector of the manipulator can be attached to the base, and other t... This paper presents a trinal-branch space robotic manipulator with redundancy, due to hash application environments, such as in the station. One end-effector of the manipulator can be attached to the base, and other two be controlled to accomplish tasks. The manipulator permits operation of science payload, during periods when astronauts may not be present. In order to provide theoretic basis for kinematics optimization, dynamics optimization and fault-tolerant control, its inverse kinematics is analyzed by using screw theory, and its unified formulation is established. Base on closed-form resolution of spherical wrist, a simplified inverse kinematics is proposed. Computer simulation results demonstrate the validity of the proposed inverse kinematics. 展开更多
关键词 space robotic manipulators REDUNDANCY screw theory inverse kinematics
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