Abstract
This work presents a new method for solving the inverse kinematical problem for freefloating space manipulators. It is based on a novel formulation of the problem within the framework of optimal control theory for discrete linear systems, thanks to a reconsideration of the energy conservation property of this class of systems. This way, inverse kinematics is obtained in a purely deductive manner, quite analogous to previous works by the author about dynamical forward and backward models, for either multibody or continuous hyperredundant actuated mechanical systems. One important by-product of the approach is an effective way for detecting dynamical singularities for the considered class of systems.
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Le Vey, G. (2008). Kinematics of Free-Floating Systems through Optimal Control Theory. In: Lenarčič, J., Wenger, P. (eds) Advances in Robot Kinematics: Analysis and Design. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8600-7_19
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DOI: https://doi.org/10.1007/978-1-4020-8600-7_19
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-8599-4
Online ISBN: 978-1-4020-8600-7
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