Title :
Kinematical Simulation and Dynamic Analysis of the Free Float Space Robot
Author :
Yan, Hui ; Yin, Hang ; Gao, Yongming ; Zhang, Xuebo
Author_Institution :
Dept. of Inf. & Equip., Acad. of Equip. Command & Technol., Beijing, China
Abstract :
With exploiting space deeply, space robot will play a more important role. A simulation system of a three layer structure based on ADAMS, MATLAB and VC++ is present in this paper, which can simulate and analyze the kinematics and dynamics of space robot in the process of capturing and releasing space object. Verification results show that this system can well explain space robot´s dynamic and kinetic characteristic in capturing and releasing task under the space circumstances.
Keywords :
C++ language; aerospace robotics; mathematics computing; mechanical engineering computing; robot dynamics; robot kinematics; simulation; ADAMS; Matlab; VC++; dynamic analysis; free float space robot; kinematical simulation; simulation system; Analytical models; Computational modeling; Computer simulation; Gravity; Manipulator dynamics; Mathematical model; Orbital robotics; Space technology; Space vehicles; Vehicle dynamics; free float mode; free fly mode; movement plan; space robot;
Conference_Titel :
Computer Modeling and Simulation, 2010. ICCMS '10. Second International Conference on
Conference_Location :
Sanya, Hainan
Print_ISBN :
978-1-4244-5642-0
Electronic_ISBN :
978-1-4244-5643-7
DOI :
10.1109/ICCMS.2010.429
