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Due to space robot meeting the constraint of conservation of angular momentum, which can not be analytically integrated, space robot is with the non-holonomic characteristic. In this paper, the algorithm of non-holonomic path planning base on Newton iteration is proposed. Firstly, the kinematics model is established and the non-holonomic characteristic is analyzed. Secondly, the functions of the joint...
Due to the dynamics coupling characteristics of space robot, it is inevitable to appear the phenomenon of dynamic singularity in the process of solving inverse kinematics, therefore, it is significant to carry out the research of avoiding dynamic singularity aiming at specific space robots. In this paper, on the basis of the space robot kinematics model, the dynamics singularity of space robot is...
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