Zero Reaction Maneuver : Flight Validation with ETS-VII Space Robot and Extension to Kinematically Redundant Arm

@inproceedings{Yoshida2001ZeroRM,
  title={Zero Reaction Maneuver : Flight Validation with ETS-VII Space Robot and Extension to Kinematically Redundant Arm},
  author={Kazuya Yoshida and Kenichi Hashizume and Satoko Abiko},
  year={2001}
}
This paper presents the experimental results and post-flight analysis of Reaction Null-Space based reactionless manipulation, or Zero Reaction Maneuver (ZRM). The concept has been developed with an insight into the motion dynamics of free-flying multibody systems and its practical availability is clearly demonstrated with ETS-VII, a Japanese space robot. The ZRM is proven particularly useful to remove the velocity limit of manipulation due to the reaction constraint and the time loss due to the… CONTINUE READING
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