Dynamic Singularities in Free-Floating Space Manipulators

Author:

Papadopoulos E.1,Dubowsky S.2

Affiliation:

1. Department of Mechanical Eng. & Research Centre for Intelligent Machines, McGill University, Montreal, PQ H3A2A7, Canada

2. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

Abstract

Dynamic Singularities are shown for free-floating space manipulator systems where the spacecraft moves in response to manipulator motions without compensation from its attitude control system. At a dynamic singularity the manipulator is unable to move its end-effector in some inertial direction; thus dynamic singularities must be considered in the design, planning, and control of free-floating space manipulator systems. The existence and location of dynamic singularities cannot be predicted solely from the manipulator kinematic structure because they are functions of the dynamic properties of the system, unlike the singularities for fixed-base manipulators. Also analyzed are the implications of dynamic singularities to the nature of the system’s workspace.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

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