Abstract
In addition to the internal hinge degrees of freedom, free-flying manipulators have 6 additional degrees of freedom associated with the overall location and orientation of the manipulator. These additional 6 degrees of freedom are normally assigned to the manipulator base-body. While the base-body link is typically chosen based on de-sign and use considerations, from a more general perspective, any one of the manip-ulator links can be designated as the base-body with equal validity. This freedom of choice, not available for ground manipulators, is responsible for a base-invariance symmetry possessed by free-flying manipulators [83, 148]. In this chapter, we use this symmetry to study free-flying manipulator dynamics.
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© 2011 Springer Science+Business Media, LLC
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Jain, A. (2011). Free-Flying Systems. In: Robot and Multibody Dynamics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-7267-5_17
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DOI: https://doi.org/10.1007/978-1-4419-7267-5_17
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Publisher Name: Springer, Boston, MA
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Online ISBN: 978-1-4419-7267-5
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