This article is based on a report commissioned by the European Space Agency and available as ESA CR(P)2048. It deals with analytical techniques and technologies required for the design and developed of robotic manipulators in space. In general, it has appeared that many techniques developed for terrestrial applications may be used for a space manipulator system. However, the space environment introduces constraints, requiring considerable modifications to the techniques identified. In short these can be summarized as•Increased requirement for system autonomy and realibility•Different mass-velocity operating regime•Adaptation to limited (on-board) computing power. © 1985 Elsevier Science Ltd. All rights reserved.
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