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The Cartesian path planning of free-floating space robot is much more complex than that of fixed-based manipulators, since the end-effector pose (position and orientation) is path dependent, and the position-level kinematic equations can not be used to determine the joint angles. In this paper, a method based on particle swarm optimization (PSO) is proposed(More)
In space environment, the power supply for space manipulator is limited because of lower ratio of the solar array. Therefore, the space manipulator's trajectory should be optimum so that the torque of manipulator can be minimized in order to save the power. This paper presents a minimum-torque path planning scheme for space manipulator. In this formulation,(More)
A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it lose one degree of freedom, hence reducing its movement ability. In this paper, the key problems related(More)
This paper addresses a general scheme of teleoperation system for a space free-flying robot. The system is comprised of five subsystems: the predictive simulation subsystem (PSS), the master-slave control subsystem (MSCS), the task planning subsystem (TPS), the information processing subsystem (IPS) and the ground-based validation subsystem (GVS). All the(More)