A new methodology for dynamic design of a planar free-flying manipulator with the objective of simplifying the non-holonomic motion planning problem is proposed. As has been proposed in the past, the dynamic singularity point can be effectively used for non-holonomic motion planning of space robots. The proposed design imparts special properties to the dynamic singularity point, which are useful for the motion planning problem. Making use of the dynamic singularity of the manipulator, the motion planning problem can then be solved on-line. Example of a two-link planar manipulator mounted on a satellite base is used to present the proposed theory.
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