This paper presents dynamical modeling of topologically stacked structure of general underactuated mechanisms. Underactuation may arise when a manipulator includes at least one passive joint which is either a free joint where torque propagating along the axis of rotation is only due to friction, or a flexible joint which has passive elements introducing stiffness and damping. In this regard, free flying platform can be considered as linked to a fixed base by six DOF free joints with no friction. Dynamics of underactuated cooperating manipulators become a bigger challenge when underactuation is encountered by the combination of free, flexible and active joints based on a free-flying platform in no-gravity setting. We call this class of systems as "general underactuated systems". This paper demonstrates the use of an order of N algorithm for the dynamical modeling of general underactuated manipulators cooperating to perform a common task on a free-flying space platform.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    General underactuated cooperating manipulators in space manipulation


    Beteiligte:
    Yesiloglu, S.M. (Autor:in) / Temeltas, H. (Autor:in)


    Erscheinungsdatum :

    2005-01-01


    Format / Umfang :

    608887 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    A Test-Bed for Cooperating Space Manipulators

    Bergen, A. / Goncalves, J. / Damaren, C. et al. | British Library Conference Proceedings | 1994


    Concurrent Rendezvous Control of Underactuated Space Manipulators

    Zong, Lijun / Reza Emami, M. / Muralidharan, Vijay | AIAA | 2019