%0 Journal Article
%T Dynamically Equivalent Manipulator for a Space Manipulator<br>空间机器人的动力学等价机械臂
%A Liang Bin
%A Liu Liangdong
%A Li Gengtian
%A Xu Yangsheng
%A <br>梁斌
%A 刘良栋
%A 李庚田
%A Xu Yangsheng
%J 自动化学报
%D 1998
%I 
%X In this paper, we discuss the problem of how a free-floating space manipulator can be mapped to a conventional, fixed-based manipulator which is called the dynamically equivalent manipulator(DEM). This paper presents the theoretical development of the DEM concept, demonstrates the dynamic and kinematic equivalence, and presents simulation results to illustrate the equivalence in close-loop control.
%K Space manipulator
%K dynamics
%K variable structure control<br>空间机器人
%K 变结构控制
%K DEM
%K 机器人
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=64CB6A91CE847F969F71C01BAC403371&yid=8CAA3A429E3EA654&vid=B91E8C6D6FE990DB&iid=B31275AF3241DB2D&sid=A67EE05E56DA7F45&eid=70081086C74F4110&journal_id=0254-4156&journal_name=自动化学报&referenced_num=5&reference_num=1