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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 this work we show that an Acrobot can be made to behave as a robotic swing. This is achieved by controIling the first joint, provided that a given condition is satisfied. When this condition is not satisfied, the system undergoes through singular points. Even when this happens, we are again able to make the system behave as a swing by controIling the second joint and employing a new energy pumping...
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