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According to the characteristic of large space manipulator, an on-board real-time singularity detection design is proposed. On the basis of forward and inverse kinematics calculation, the forward and inverse power method is applied to obtain the singularity by iterative computation. Firstly, the 7-DOF manipulator kinematics model is described and analyzed, and the main computational process is presented;...
An effective method is proposed for calculating the on-board real-time path planning of large-scale space redundant manipulators. Firstly, the 7-DOF manipulator kinematics model is described and analyzed, and the main computational process of path planning is presented. The homogeneous transformation matrices of various degrees of freedom are obtained through the telemetry joint angle, and is used...
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