Contact and impact dynamics of space manipulator and free-flying target

Author

Huang, Panfeng ; Xu, Yangsheng ; Liang, Bin

Author_Institution

Dept. of Autom. & Comput.-Aided Eng., Chinese Univ. of Hong Kong, China

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

1181

Lastpage

1186

Abstract

In this article, we discuss the dynamics characteristics of contact and impact when the hand of space manipulator captures the free-flying target (FFT). We establish the dynamics model of contact and impact between a space manipulator and FFT. The pre-impact, post-impact effect and condition of the space robot system and the FFT system are analyzed when there are any differences between the speed of the end-effector of the space manipulator and that of the contact and impact point on the surface of FFT. We present the relationship between the speed varieties of the space base and that of the FFT. If the impact force is kept constant, the speed varieties of the space base are different when the space robot system is at different configuration. Those methods can be used to analyze the contact and impact problem of the space robot.

Keywords

aerospace robotics; end effectors; impact (mechanical); manipulator dynamics; mechanical contact; velocity control; contact dynamics; end-effector; free-flying target; impact dynamics; impact force; space manipulator; space robot system; Aerodynamics; Automation; Equations; Extraterrestrial phenomena; Manipulator dynamics; Orbital robotics; Robot control; Robot kinematics; Robotic assembly; Space technology; Space manipulator; contact and impact; dynamics; free-flying target;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545260

Filename

1545260