Dynamically Equivalent Manipulator for a Space Manipulator
空间机器人的动力学等价机械臂

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.