Dynamic Singularities in Free-Floating Space Manipulators

[+] Author and Article Information
E. Papadopoulos

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

S. Dubowsky

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

J. Dyn. Sys., Meas., Control 115(1), 44-52 (Mar 01, 1993) (9 pages) doi:10.1115/1.2897406 History: Received June 08, 1990; Revised June 01, 1992; Online March 17, 2008


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.

Copyright © 1993 by The American Society of Mechanical Engineers
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