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In recent years, research on space robotics has attracted considerable attention. Kinematics of the free-flying or free-floating space manipulator system, including a spacecraft and a manipulator mounted on the spacecraft, is a significant problem. In free-floating work mode, the spacecraft will move freely in response to the disturbances caused by the manipulator motions. From the view of application,...
A position planning strategy based on dexterity and manipulability is proposed for meeting laparoscopic robot's requirement in minimally invasive surgery. Robot moves laparoscope to the desired point and not to interfere with surgical term. In order to demonstrate position planning method to develop tasks it has been designed for, simulation based on concept of configuration space and position planning...
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