抄録
If the manipulator is moved in space, the body of the space structure will move also. This paper deals with the 3-link space robot with redundancy whose angular momentum is conserved. First, we formulate the nonholonomic condition and the state equation that has torque inputs by using the Lagrange-d'Alembert principle. Then, we obtain one of final states by using the disturbance map. Next, we show the validity of the final-state control with respect to the positioning control of the end-effector without any moving of the space body by simulation.
