Automated object capturing with a two-arm flexible manipulator

Author

Miyabe, Tomohiro ; Konno, Atsushi ; Uchiyama, Masaru

Author_Institution

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

Volume

2

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

2529

Abstract

The recent developments in the space technology demand various services to the exhausted or damaged satellites such as refueling and repairing in order to extend their life spans. In this paper, an automated object capturing with a two-arm flexible manipulator is addressed, which is a basic technology for such services. This object capturing includes the symmetric cooperative control, the visual servoing, the resolution of the inverse kinematics problem and the optimization of the configuration of a two-arm redundant flexible manipulator. There have been no researches on such a practical application with the flexible manipulators so far. The effectiveness of this capturing sequence is validated with the experiment.

Keywords

aerospace robotics; cooperative systems; flexible manipulators; inverse problems; optimisation; redundant manipulators; robot vision; servomechanisms; automated object capturing; damaged satellites; exhausted satellites; inverse kinematics resolution; optimization; redundant manipulator; refueling; space technology; symmetric cooperative control; two arm flexible manipulator; visual servoing; Automatic control; Earth; Force measurement; Manipulators; Orbital robotics; Robot kinematics; Satellites; Space stations; Space technology; Strain measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241973

Filename

1241973