Print Email Facebook Twitter Modelling and simulation of a rate controlled manipulator ARM Title Modelling and simulation of a rate controlled manipulator ARM Author Guelman, M. Institution National Aerospace Laboratory NLR Date 1986-12-15 Abstract The mathematical model of a space based manipulator arm with a rate controlled end effector is defined and the recursive algorithms for the computation of the basic djmamic functions are formulated. A digital simulation of this system is implemented and preliminary results are presented. Actual running times for the simulation In a VAX 750 computer for the six degrees of freedom rate controlled manipulator are faster than real time. Subject KinematicsManipulatorsSimulationDynamic modelsControl system designJacobi matrix methodRoboticsReal time operationTrajectory controlArm (Anatomy)AlgorithmsHermes manned spaceplaneMathematical models To reference this document use: http://resolver.tudelft.nl/uuid:e1b7997a-fa7b-4d90-8273-9a880902c7c4 Publisher Nationaal Lucht- en Ruimtevaartlaboratorium Access restriction Campus only Source NLR-TR 87010 U Part of collection Aerospace Engineering Reports Document type report Rights (c)1986 National Aerospace Laboratory NLR Files PDF NLR_TR_87010_U.pdf 9.47 MB Close viewer /islandora/object/uuid:e1b7997a-fa7b-4d90-8273-9a880902c7c4/datastream/OBJ/view