In this paper, the vibration of a space robotic arm with joint flexibility is discussed. Considering manipulability of the robotic arm, the berthing manipulation may cause flexible vibration due to joint elasticity. Since the natural frequency of the robotic arm changes according to its configuration changes, there is a possibility of resonance between the arm vibration and the flexible paddle vibration, and the disturbances caused by the arm vibration have influence on the satellite attitude. The authors evaluate the arm vibration during the berthing manipulations through both the data analyses of berthing experiments and the simulations.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Berthing Manipulation by a Space Robotic Arm with Consideration of Joint Flexibility


    Contributors:

    Conference:

    Fourth International Conference and Exposition on Robotics for Challenging Situations and Environments ; 2000 ; Albuquerque, New Mexico, United States


    Published in:

    Publication date :

    2000-02-17




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Space station rendezvous and berthing

    Cook, J. / Wicks, D. | Tema Archive | 1991





    Automatic berthing device and berthing system

    MA ZHONGJUN / SUN JUNJIE / SUN PAN et al. | European Patent Office | 2023

    Free access