DocumentCode
2960778
Title
Attitude disturbance minimization in space robot using dual arm
Author
Deshpande, Nachiket P. ; Patolia, Haresh ; Pathak, Pushparaj M. ; Jain, Satish C.
Author_Institution
CAM & Robot. at Mech. & Ind. Eng. Dept., Indian Inst. of Technol. Roorkee, Roorkee
fYear
2008
fDate
5-8 Aug. 2008
Firstpage
744
Lastpage
749
Abstract
This work presents the joint trajectory planning of dual arm space robot using bond graph to achieve minimum base attitude disturbance which may occur due to dynamic reaction forces and momentum. Bond graph was adopted for modeling as it facilitates the system modeling from the physical paradigm itself and it is easy to develop various control strategies by modifying the physical paradigm.
Keywords
aerospace robotics; attitude control; bond graphs; manipulators; path planning; position control; attitude disturbance minimization; bond graph; dual arm space robot; joint trajectory planning; minimum base attitude disturbance; Bonding; Industrial engineering; Manipulator dynamics; Motion control; Orbital robotics; Power system modeling; Robot kinematics; Satellites; Space technology; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on
Conference_Location
Takamatsu
Print_ISBN
978-1-4244-2631-7
Electronic_ISBN
978-1-4244-2632-4
Type
conf
DOI
10.1109/ICMA.2008.4798849
Filename
4798849
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