DocumentCode :
1870700
Title :
Canonical modeling approach of a micro/nano free-flying space robot: a proposal towards detecting the nature of space-time
Author :
Shibli, Murad
Author_Institution :
Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, Que.
fYear :
2006
fDate :
19-21 Jan. 2006
Lastpage :
137
Abstract :
This paper presents a canonical modeling approach of a micro/nano free-flying space robot with/without interaction with a floating object. A first-order dynamical model is obtained by using the concept of generalized momenta subjected to different constraints. In the proposed model the time is considered as a mechanical variable along with other dependent variables rather than an independent variable. This results into an extension of conservation of momentum of the mechanical system with a drift in the space-time. The proposed approach may serve as a first step to detect the nature of space-time and the energy associated with it. Finally, simulation results of a 6-DOF micro space robot are demonstrated to verify the analytical results
Keywords :
aerospace robotics; first order dynamical model; floating object; mechanical variable; micro/nano free-flying space robot; momentum conservation; space time detection; Aerospace industry; Industrial engineering; Manipulators; Orbital robotics; Proposals; Robot kinematics; Satellites; Service robots; Teleportation; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on
Conference_Location :
Harbin
Print_ISBN :
0-7803-9395-3
Type :
conf
DOI :
10.1109/ISSCAA.2006.1627597
Filename :
1627597
Link To Document :
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