On the kinematics of multiple manipulator space free-flyers and their computation

Moosavian, SAA; Papadopoulos, E

dc.contributor.author	Moosavian, SAA	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:13:57Z
dc.date.available	2014-03-01T01:13:57Z
dc.date.issued	1998	en
dc.identifier.issn	0741-2223	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12815
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0032049693&partnerID=40&md5=049f51ed274326990931a0c7f4d00f37	en
dc.subject.classification	Robotics	en
dc.subject.other	Control system analysis	en
dc.subject.other	Control system synthesis	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	Force control	en
dc.subject.other	Kinematics	en
dc.subject.other	Mathematical models	en
dc.subject.other	Motion control	en
dc.subject.other	Position control	en
dc.subject.other	Torque control	en
dc.subject.other	Vectors	en
dc.subject.other	Velocity control	en
dc.subject.other	Barycentric vector approach	en
dc.subject.other	Body fixed vectors	en
dc.subject.other	Dynamic equations	en
dc.subject.other	Multiple manipulator space free flying robots (SFFR)	en
dc.subject.other	Translational motions	en
dc.subject.other	Manipulators	en
dc.title	On the kinematics of multiple manipulator space free-flyers and their computation	en
heal.type	journalArticle	en
heal.language	English	en
heal.publicationDate	1998	en
heal.abstract	In this article, two basic approaches for kinematics modelling of multiple manipulator space free-flying robots (SFFRs) are developed. In the barycentric vector approach, the center of mass of the whole system is taken as a representative point for the translational motion of the system, and a set of body-fixed vectors which reflect both geometric configuration and mass distribution of the system are used. On the other hand, the direct path method relies on taking a point on the base body (preferably its center of mass) as the representative point for the translational motion of the system. The consequences of using each of the two approaches in deriving dynamics equations and in control design of SFFRs are discussed. It is revealed that the direct path method is a more appropriate approach for modelling multiple arm systems, in the presence of external forces/torques (i.e., free-flying mode). A 14 degree-of-freedom space free-flying system is considered as a benchmark system and a quantitative comparison between the two approaches is presented. The results show that the direct path method requires significantly less computations for position and velocity analyses. (C) 1998 John Wiley & Sons, Inc.	en
heal.publisher	JOHN WILEY & SONS INC	en
heal.journalName	Journal of Robotic Systems	en
dc.identifier.isi	ISI:000072697000003	en
dc.identifier.volume	15	en
dc.identifier.issue	4	en
dc.identifier.spage	207	en
dc.identifier.epage	216	en