Mapping a Space Manipulator to a Dynamically Equivalent Manipulator

[+] Author and Article Information
Bin Liang, Yangsheng Xu, Marcel Bergerman

The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213-3890

J. Dyn. Sys., Meas., Control 120(1), 1-7 (Mar 01, 1998) (7 pages) doi:10.1115/1.2801316 History: Received January 20, 1997; Online December 03, 2007


In this paper, we discuss the problem of how a free-floating space manipulator can be mapped to a conventional, fixed-base manipulator which preserves both its dynamic and kinematic properties. This manipulator is called Dynamically Equivalent Manipulator (DEM). The DEM concept not only allows us to model a free-floating space manipulator system with simple, well-understood methods, but also to build a conventional manipulator system to experimentally study the dynamic performance and task execution of a space manipulator system, without having to resort to complicated experimental set-ups to simulate the space environment. This paper presents the theoretical development of the DEM concept, demonstrates the dynamic and kinematic equivalence, and presents simulation results to illustrate the equivalence under open-loop and closed-loop control strategies.

Copyright © 1998 by The American Society of Mechanical Engineers
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