Due to unilateral constraints of frictional contacts and the dynamic coupling phenomenon, the study on the unfixed manipulation through frictional contacts for multi-arm space robots is few carried out. This paper proposes a new measure method to assess the dynamic manipulability of the unfixed manipulation through frictional contacts. In particular, the explicit map from the base actuation and joint torques to the object acceleration, the base acceleration, and the internal force is formulated under unilateral constraints of frictional contacts. Considering typical control scenarios of both free-floating and free-flying systems, dynamic manipulabilities are derived separately. As an illustrative example, the dynamic manipulability of a planar dual-arm space robot is computed and reported, which visualizes the influence of different system parameters.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Dynamic manipulability measure for on-orbit manipulation by frictional contacts


    Beteiligte:
    Chen, Li (Autor:in) / Zheng, Zixuan (Autor:in) / Yuan, Jianping (Autor:in)


    Erscheinungsdatum :

    2022-12-01


    Format / Umfang :

    11 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    A trajectory optimization method with frictional contacts for on-orbit capture

    Li, Chen / Zheng, Zixuan / Yuan, Jianping | Elsevier | 2020



    Motion Control of Space Manipulators by Using Dynamic Manipulability Ellipsoid

    Okubo, H. / Mitsuoka, T. / Matsudo, T. | British Library Conference Proceedings | 2000


    Manipulability of Dual Cooperative Robots

    P. Chiacchio / S. Chiaverini / L. Sciavicco et al. | NTIS | 1989


    CyberForce Haptic Device: Kinematics and Manipulability

    Martinez-Teran, Gerardo / Dominguez-Ramirez, Omar Arturo / Ramirez-Zamora, Juan Daniel et al. | IEEE | 2015