Abstract:Abstract-Compared with the fixed-base manipulator system, kinematical and dynamical modeling and control of free-floating manipulator system (SBMS) becomes much more complicated. The primary cause is that there exists a deep dynamical coupling relationship between the floating base and the manipulator mounted on it. Firstly, in this article, generalized equation of motion of an n-DOF SBMS is built. Secondly, relevant attitudes of generalize coefficient matrixes, such as dynamical manipulability, are discussed.… Show more
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