Analytical and semi-analytical inverse kinematics of SSRMS-type manipulators with single joint locked failure |
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| Authors: | Wenfu Xu Yu She Yangsheng Xu |
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| Institution: | 1. Shenzhen Graduate School, Harbin Institute of Technology, China;2. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, China |
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| Abstract: | Redundant space manipulators, including Space Station Remote Manipulator System (SSRMS), Special Purpose Dexterous Manipulator (SPDM) and European Robotic Arm (ERA), have been playing important roles in the construction and maintenance of International Space Station (ISS). They all have 7 revolute joints arranged in similar configurations, and are referred to as SSRMS-type manipulators. |
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| Keywords: | Redundant manipulator Space manipulator Fault-tolerant control Inverse kinematics Single Joint Failure |
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