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Free-floating space manipulator systems, have their thrusters turned off and exhibit nonholonomic behavior due to angular momentum conservation. Here, the initial system angular momentum is not assumed to be zero and therefore the manipulator end effector cannot remain in a position for indefinite time. The system kinematics and dynamics constraints are studied yielding a subset of a system's reachable...
In free-floating mode, space manipulator systems have their actuators turned off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactuated and a challenging problem is to control both the location of the end effector and the attitude of the base, using manipulator actuators only. Physical limitations, imposed by system's dynamic parameters, are examined....
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