Title :
Impact analysis and post-impact motion control issues of a free-floating space robot contacting a tumbling object
Author :
Nenchev, Dragomir N. ; Yoshida, Kazuya
Author_Institution :
Dept. of Mech. & Production Eng., Niigata Univ., Japan
Abstract :
This work is an extension of the authors´ previous result (1995), mainly to tackle the post-impact control problem. We focus on the specific case of a nonredundant arm and a reaction null space in terms of base angular motion. It is shown that with proper post-impact manipulator control it is possible to swiftly transfer the whole angular momentum from the base toward the manipulator, and in the same time to reduce the joint velocity
Keywords :
aerospace control; impact (mechanical); mobile robots; robot dynamics; angular momentum transfer; base angular motion; free-floating space robot; impact analysis; joint velocity reduction; nonredundant arm; post-impact manipulator control; post-impact motion control; reaction null space; tumbling object; Aerodynamics; Manipulator dynamics; Motion control; Null space; Orbital robotics; Production engineering; Robot kinematics; Robot sensing systems; Satellites; Velocity control;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677104
