Title :
A real-time path planning of space manipulator saving consumed energy
Author :
Katoh, R. ; Ichiyama, O. ; Yamamoto, T. ; Ohkawa, F.
Author_Institution :
Dept. of Control Eng., Kyushu Inst. of Technol., Fukuoka, Japan
Abstract :
This paper deals with a real- time path planning method of a manipulator mounted on the free-flying robot in space to save the energy consumed by the mechanical viscous friction forces and the armature´s resistances of motors when operating the manipulator. For this purpose, a new concept of “manipulation ellipse under a constant consumed energy” defined in this paper, is used. The validity of the proposed method is confirmed numerically by computer simulation
Keywords :
aerospace control; energy conservation; path planning; real-time systems; robots; armature resistances; electric motor; energy saving; free-flying robot; manipulation ellipse; mechanical viscous friction forces; real-time path planning; space manipulator; Control engineering; Energy consumption; Friction; Intelligent robots; Laboratories; Manipulators; Orbital robotics; Path planning; Power engineering and energy; Space technology;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on
Conference_Location :
Bologna
Print_ISBN :
0-7803-1328-3
DOI :
10.1109/IECON.1994.397938
