Modeling of impact dynamics and impulse minimization for space robots

Investigates impact dynamics among free-floating multibody systems in space, by developing an extended inertial tensor concept, and establishes the theoretical basis for floating chain collisions. The authors have developed a concept named an `extended inversed inertia tensor´ (Ex-IIT), paying attention to free-floating behavior in the space environment. They apply Ex-IIT to impulse minimization arguments. To illustrate the magnitude of the impulses caused by link collisions in various conditions, the concepts of `impulse index´ and `impulse ellipsoid´ are introduced. By means of these concepts, the authors discuss the relationship of the impulse to collision directions and link postures, in order to determine the condition minimizing the impulse