Dynamical Modeling of Cooperating Underactuated Manipulators for Space Manipulation

Yesiloglu S. M., Temeltaş H.

ADVANCED ROBOTICS, vol.24, no.3, pp.325-341, 2010 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 24 Issue: 3
  • Publication Date: 2010
  • Doi Number: 10.1163/016918609x12619993300700
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.325-341
  • Istanbul Technical University Affiliated: Yes


Underactuation may arise when a manipulator includes at least one passive joint. Free-flying platforms fall under passive systems since they can be considered as linked to a fixed base by 6-d.o.f. free joints with no friction. Dynamics of underactuated cooperating manipulators have become a bigger challenge when underactuation is encountered by the combination of free, flexible and/or active joints in the context of a free-flying platform. This paper demonstrates the presented methodology on the dynamical modeling and simulation of underactuated manipulators cooperating to perform a common task on a free-flying space platform. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010