Title :
Kinematic models of assembly primitives for free-floating robots
Author :
Agrawal, Sunil Kurnar ; Desmier, Glenn
Author_Institution :
Dept. of Mech. Eng., Ohio Univ., Athens, OH, USA
Abstract :
Mathematical models are developed for the following motion primitives: (a) self-motion and -propulsion of a robot, (b) single- and dual-arm catching or release of a workpiece by a robot, and (c) catching and release of a robot chain by another robot. These primitives can be combined to build strategies for automated handling and cooperative assembly in space. The developments in this paper, even though illustrated for planar systems, easily extend to spatial free-floating robot systems
Keywords :
mobile robots; assembly primitives; automated handling; cooperative assembly; dual-arm catching; free-floating robots; kinematic models; motion primitives; planar systems; robot chain; self-motion; self-propulsion; single-arm catching; space robots; workpiece catching; workpiece release; Gravity; Manipulator dynamics; Orbital robotics; Production facilities; Propulsion; Robot kinematics; Robotic assembly; Robotics and automation; Service robots; Torque;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583912
