Abstract
two designs to improve the positioning of a space manipulator end effector are compared. in the first one, a serial mini-manipulator is inserted between the external (macro) space manipulator and the end effector, and an anchorage mechanism (which stiffness is discussed) provides a hold point to the manipulators interface. in the second one, the serial architecture is replaced by a light parallel architecture, and the macro manipulator provides dynamic positioning of the mini-manipulator base through a coordinated control scheme. these solutions are compared in terms of achievable bandwidth for disturbance rejection, with reference to the basic control of the macro-manipulator alone using proximeter feedback.
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