Analysis of active manipulator elements in space manipulation

Author

Murphy, Steve H. ; Wen, John Ting-Yung

Author_Institution

FANUC Robotics North America, Auburn Hills, MI, USA

Volume

9

Issue

5

fYear

1993

fDate

10/1/1993 12:00:00 AM

Firstpage

544

Lastpage

552

Abstract

The effects of spinning motors on the motion of robot manipulators on a mobile space platform are evaluated. The complete dynamics of a geared manipulator on a space platform, which includes the dynamic coupling from motor to link and the gyroscopic forces from the spinning motors, is derived. The complete dynamic model is compared to a model using the common approximation to geared manipulators. The results show that the effect of gyroscopic forces is negligible from the viewpoint of robot control but significant from the viewpoint of platform control. The motor gyroscopic forces result in significant changes in platform orientation and manipulator tip position that are not accounted for in current models of robot manipulation in space. The changes in platform orientation and manipulator tip position are independent of the speed of the motion

Keywords

aerospace control; control system analysis; dynamics; manipulators; position control; active manipulator; dynamic model; dynamics; gyroscopic forces; mobile space platform; platform orientation; robots; space manipulation; spinning motors; tip position; Gears; Intelligent robots; Manipulator dynamics; Mobile robots; Motion planning; Orbital robotics; Reluctance motors; Robot control; Space shuttles; Spinning;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.258047

Filename

258047