Impact dynamics of Space long reach manipulators

Author

Yoshida, Kazuya ; Mavroidis, Constantinos ; Dubowsky, Steven

Author_Institution

Dept. of Aeronaut. & Space Eng., Tohoku Gakuin Univ., Sendai, Japan

Volume

2

fYear

1996

fDate

22-28 Apr 1996

Firstpage

1909

Abstract

The problem of impact dynamics of Space robotic systems that consist of a rigid manipulator supported by a flexible deployable structure is addressed. Due to joint back-drivability and the dynamic coupling between the manipulator and its supporting structure, unknown motion of the system occurs after it makes impulsive contact with the environment. A method that uses the system´s dynamic model is proposed to estimate the motion of the system after impact. This method which can be used to find ways to minimize the impact effect and vibrations of the supporting structure due to impact, is verified experimentally using the MIT Vehicle Emulation System (VES II). The experimental results show that the impact force and the system motion after impact can be reduced if the manipulator configuration prior to impact and the controller gains are properly selected

Keywords

aerospace control; flexible structures; force control; manipulator dynamics; mobile robots; robot dynamics; space vehicles; vibration control; MIT Vehicle Emulation System; Space long-reach manipulators; Space robotic systems; VES II; dynamic coupling; flexible deployable structure; impact dynamics; impact effect minimization; impulsive contact; joint back-drivability; manipulator configuration; rigid manipulator; vibration minimization; Actuators; Damping; Friction; Gears; Manipulator dynamics; Motion estimation; Satellites; Tensile stress; Vehicle dynamics; Vibrations;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506990

Filename

506990