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This paper deals with two cooperative and one non-cooperative space robot systems, and formulates the differential kinematic equations for the systems. Their working abilities are evaluated based on a workspace and a manipulability measure, and the results show that the working abilities of the cooperative space robot systems are superior to those of the non-cooperative space robot system. Consequently, it is verified that the cooperative space robot systems are effective.

Construction of Cooperative Space Robot Systems and Analysis of Their Working Abilities