Flexible space robotic manipulator with passively switching free joint to drive joint

Author

Otsuki, Masatsugu

Author_Institution

Inst. of Space & Astronaut. Sci., Japan Aerosp. Exploration Agency, Sagamihara, Japan

fYear

2010

fDate

3-7 May 2010

Firstpage

1169

Lastpage

1174

Abstract

This paper presents the manipulator with the new joint which can passively switch free state to drive state and vice versa. The manipulator with the free-state joint is categorized as a system subjected to a nonholonomic constraint; hence, its smooth feedback control cannot be implemented. In this paper, the issues on its control are clarified through the test with the experimental setup of the manipulator with a free joint. The manipulator with the switching joint is also developed and its effectiveness is verified through the experiment. Consequently, the trivial actuation using the proposed joint accomplishes more precise positioning in the experiment.

Keywords

aerospace robotics; feedback; manipulators; position control; drive joint; flexible space robotic manipulator; free-state joint; nonholonomic constraint; passively switching free joint; smooth feedback control; Drives; Feedback control; Force control; Lighting control; Manipulators; Orbital robotics; Payloads; Robotics and automation; Switches; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1050-4729

Print_ISBN

978-1-4244-5038-1

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2010.5509137

Filename

5509137