On the dynamic singularities in the control of free-floating space manipulators

摘要: It is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a singular position, the unable to move its end effector in some direction. This problem appears any system permits vehicle response motion without correction from vehicle's attitude control system. Dynamic singularities functions of dynamic properties system; their existence and locations cannot be predicted solely kinematic structure manipulator, unlike for fixed base manipulators. also location these workplace dependent upon path taken by reaching them. must considered control, planning design systems. A method calculating presented, it parameters can selected reduce effect on system's performance.