On the Inverse Kinematics of Space Manipulators for Avoiding Dynamic Singularities

[+] Author and Article Information
F. Xi

Centre for Intelligent Machines, McGill University, Montreal, Canada

R. G. Fenton

Department of Mechanical Engineering, University of Toronto, Toronto, Canada

J. Dyn. Sys., Meas., Control 119(2), 340-346 (Jun 01, 1997) (7 pages) doi:10.1115/1.2801262 History: Received November 23, 1993; Online December 03, 2007


A spacecraft-manipulator system is considered in this paper. Dynamic singularities are the singularities occurring when inverting the system generalized Jacobian required by the conventional method for solving the inverse kinematics of space manipulators. To avoid dynamic singularities, three methods are developed here based on the manipulator Jacobian, instead of the system generalized Jacobian. These methods are compared with the conventional method on the basis of their convergence rates, accuracies and sensitivities. Results of this comparison are presented in this paper.

Copyright © 1997 by The American Society of Mechanical Engineers
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