The dynamic interaction between a space robotic manipulator and its base can make its control difficult. Control and planning algorithms have been proposed to compensate for this dynamic interaction. A laboratory test bed is described which was developed and built to emulate the dynamic behavior of space robotic systems and investigate proposed algorithms. Experimental results are presented which demonstrate the effectiveness of this test bed in studying the dynamic coupling between a space manipulator and its spacecraft.


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    Title :

    The design and implementation of a laboratory test bed for space robotics: the ves mod 2


    Additional title:

    Entwicklung und Einsatz eines Labor-Testbettes für Raumfahrtroboter: Ves Mod 2


    Contributors:
    Dubowsky, S. (author) / Durfee, W. (author) / Kuklinski, A. (author) / Müller, U. (author) / Paul, I. (author) / Pennington, J. (author)


    Publication date :

    1994


    Size :

    10 Seiten, 14 Bilder, 1 Tabelle, 26 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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