Future robotic manipulators carried by a spacecraft will be required to perform complex tasks in space, like repairing satellites. Such applications of robotic manipulators will encounter a number of kinematic, dynamic and control problems due to the dynamic coupling between the manipulators and the spacecraft. A new analytical modeling method for studying the kinematics and dynamics of manipulators in space is presented. The problem is treated by introducing the concept of a Virtual Manipulator (VM). The kinematic and dynamic motions of the manipulator, vehicle and payload, can be described relatively easily in terms of the Virtual Manipulator movements, which have a fixed base in inertial space at a point called a Virtual Ground. It is anticipated that the approach described here will aid in the design and development of future space manipulator systems.


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    Titel :

    Virtual Manipulator Model for Space Robotic Systems


    Beteiligte:
    S. Dubowsky (Autor:in) / Z. Vafa (Autor:in)

    Erscheinungsdatum :

    1987


    Format / Umfang :

    10 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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