This paper presents the experimental results and post-flight analysis of Reaction Null-Space based reactionless manipulation, or Zero Reaction Maneuver (ZRM). The concept has been developed with an insight into the motion dynamics of free-flying mukibody systems and its practical availability is clearly demonstrated with ETS-VII, a Japanese space robot. The ZRM is proven particularly useful to remove the velocity limit of manipulation due to the reaction constraint and the time loss due to the waiting for the attitude recovery. The existence of the ZRM is very limited for a 6 DOF manipulator arm mounted on a free-flying base, but it is discussed that more operational freedom is obtained with a kinematically redundant arm.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 2001|
|イベント||2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of|
継続期間: 2001 5月 21 → 2001 5月 26
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