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On the dynamic singularities in the control of free-floating space manipulatorsIt is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a dynamically singular position, the manipulator is unable to move its end effector in some direction. This problem appears in any free-floating space manipulator system that permits the vehicle to move in response to manipulator motion without correction from the vehicle's attitude control system. Dynamic singularities are functions of the dynamic properties of the system; their existence and locations cannot be predicted solely from the kinematic structure of the manipulator, unlike the singularities for fixed base manipulators. It is also shown that the location of these dynamic singularities in the workplace is dependent upon the path taken by the manipulator in reaching them. Dynamic singularities must be considered in the control, planning and design of free-floating space manipulator systems. A method for calculating these dynamic singularities is presented, and it is shown that the system parameters can be selected to reduce the effect of dynamic singularities on a system's performance.
Document ID
19910054125
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Papadopoulos, E.
(Massachusetts Inst. of Tech. Cambridge, MA, United States)
Dubowsky, S.
(MIT Cambridge, MA, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1989
Subject Category
Man/System Technology And Life Support
Meeting Information
Meeting: ASME Winter Annual Meeting
Location: San Francisco, CA
Country: United States
Start Date: December 10, 1989
End Date: December 15, 1989
Sponsors: ASME
Accession Number
91A38748
Funding Number(s)
CONTRACT_GRANT: NAG1-489
Distribution Limits
Public
Copyright
Other

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