Mapping a Space Manipulator to a Dynamically Equivalent Manipulator

  title={Mapping a Space Manipulator to a Dynamically Equivalent Manipulator},
  author={Bin Liang and Yangsheng Xu and Marcel Bergerman},
In this paper, we discuss the problem of how a free-floating space manipulator can be mapped to a conventional, fixed-base manipulator which preserves both its dynamic and kinematic properties. This manipulator is called dynamically equivalent manipulator (DEM). The DEM concept not only allows us to model a free-floating space manipulator system with simple, well-understood methods, but also can be physically built using a conventional manipulator system to experimentally study the dynamic… CONTINUE READING
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