Abstract
Dynamic modeling is the key technology in studying multi-arm space robots with variable topology. The difficulty lies in establishing the transformation from one topology to the other one. In this paper, typical configurations applied in orbit manipulation are demonstrated and the corresponding dynamic model are built based on spatial operator algebra(SOA). Then a general topological transformation method is proposed via factored serial topological variation. Finally, listed dynamic model of the configuration verifies the transformation result.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Published version (
Free)
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
