A STUDY OF KINEMATICS OF SHUTTLE-MOUNTED MANIPULATOR

Considering the coupled motion of a space shuttle and a robot manipulator mounted on it this paper develops kinematic equations of the shuttle-mounted manipulator, and provides a new kind of iterative algorithm. Each joint displacement of the manipulator can be obtained conveniently in terms of the position and orientation of payload grasped by the manipulator. And the difficult inverse kinematics problem is solved readily.