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JRM Vol.12 No.5 pp. 585-592
doi: 10.20965/jrm.2000.p0585
(2000)

Paper:

Construction of Cooperative Space Robot Systems and Analysis of Their Working Abilities

Jun Kobayashi, Ryozo Katoh and Fujio Ohkawa

Department of Control Engineering and Science, Kyushu Institute of Technology, Kawazu 680-4, Iizuka, 820-8502, Japan

Received:
May 7, 2000
Accepted:
September 12, 2000
Published:
October 20, 2000
Keywords:
Space robot, Cooperation, Workspace, Manipulability
Abstract

This paper deals with two cooperative and one non-cooperative space robot systems, and formulates the differential kinematic equations for the systems. Their working abilities are evaluated based on a workspace and a manipulability measure, and the results show that the working abilities of the cooperative space robot systems are superior to those of the non-cooperative space robot system. Consequently, it is verified that the cooperative space robot systems are effective.

Cite this article as:
Jun Kobayashi, Ryozo Katoh, and Fujio Ohkawa, “Construction of Cooperative Space Robot Systems and Analysis of Their Working Abilities,” J. Robot. Mechatron., Vol.12, No.5, pp. 585-592, 2000.
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