The paper extends the solution, already presented to the trajectory planning problem of 2D free-flying manipulators, to 3D manipulators. It demonstrates it is possible to design a robotic arm with a special dynamic singularity (attitude singular configuration), thus permitting to determine and execute its trajectory without affecting the attitude of the spacecraft carrying it. This methodology provides an exact solution to trajectory planning problems that are usually dealt with by approximate algorithms based on the concept of Disturbance Map. After a theoretical introduction, some educational design examples are presented
To enable a robotic assistant to autonomously reach for and transport objects while avoiding obstacl...
Space manipulator systems having spacecraft actuators turned off, operate in free-floating mode, and...
Examples are given that modify some oversimplified statements usually made about the motion of robot...
This paper extends the solution, already presented to the trajectory planning problem of 2D free-f...
Abstract Motion planning for free-flying robots can be quite complex due to the fact that any moveme...
This paper deals with the analysis of the motion of free flying space manipulators. One of the probl...
Dynamic Singularities are shown for free-floating space manipulator systems where the spacecraft mov...
High cost and risk related to manned space mission calls for the automation of in-orbit activities. ...
Nonholonomic behavior is observed in free-floating manipulator systems, and is due to the nonintegra...
This paper addresses the singularities avoidance problem while performing a grasping maneuver in tel...
This paper presents a generic method for optimal motion planning for 2D and 3D multi-link robotic ma...
This paper considers the problem of planning optimal attitude motions for spacecraft. The extremal s...
We present a numerical method to compute singularity sets in the configuration space of free-floatin...
The paper presents path planning of dual arm free flying space robot using smooth functions of time....
Abstract — This paper addresses the problem of motion planning for free-flying robots. Full state ac...
To enable a robotic assistant to autonomously reach for and transport objects while avoiding obstacl...
Space manipulator systems having spacecraft actuators turned off, operate in free-floating mode, and...
Examples are given that modify some oversimplified statements usually made about the motion of robot...
This paper extends the solution, already presented to the trajectory planning problem of 2D free-f...
Abstract Motion planning for free-flying robots can be quite complex due to the fact that any moveme...
This paper deals with the analysis of the motion of free flying space manipulators. One of the probl...
Dynamic Singularities are shown for free-floating space manipulator systems where the spacecraft mov...
High cost and risk related to manned space mission calls for the automation of in-orbit activities. ...
Nonholonomic behavior is observed in free-floating manipulator systems, and is due to the nonintegra...
This paper addresses the singularities avoidance problem while performing a grasping maneuver in tel...
This paper presents a generic method for optimal motion planning for 2D and 3D multi-link robotic ma...
This paper considers the problem of planning optimal attitude motions for spacecraft. The extremal s...
We present a numerical method to compute singularity sets in the configuration space of free-floatin...
The paper presents path planning of dual arm free flying space robot using smooth functions of time....
Abstract — This paper addresses the problem of motion planning for free-flying robots. Full state ac...
To enable a robotic assistant to autonomously reach for and transport objects while avoiding obstacl...
Space manipulator systems having spacecraft actuators turned off, operate in free-floating mode, and...
Examples are given that modify some oversimplified statements usually made about the motion of robot...