On the Dynamics and Control of Free-floating Space Manipulator Systems in the Presence of Angular Momentum
In this paper, the control of free-floating space manipulator systems with non-zero angular momentum (NZAM), for both motions in the joint and Cartesian space, is studied. Considering NZAM, dynamic models in the joint and Cartesian space are derived. It is shown that the NZAM has a similar result to...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2017-06-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | http://journal.frontiersin.org/article/10.3389/frobt.2017.00026/full |