Attitude dynamic singularities in 3D free-flying manipulators for improved path planning

The paper extends the solution, already presented to the trajectory planning problem of 2D free-flying manipulators, to 3D manipulators. It demonstrates it is possible to design a robotic arm with a special dynamic singularity (attitude singular configuration), thus permitting to determine and execute its trajectory without affecting the attitude of the spacecraft carrying it. This methodology provides an exact solution to trajectory planning problems that are usually dealt with by approximate algorithms based on the concept of Disturbance Map. After a theoretical introduction, some educational design examples are presented.