Base-invariant symmetric dynamics of free-flying manipulators
نویسندگان
چکیده
The freedom of choice in designating a base{body for free{ ying manipulators gives these manipulators a base{invariance symmetry that is not encountered in terrestrial manipulators. This paper analyzes the relationship between this natural symmetry and the dynamical equations for freeying manipulators. The base-invariance symmetry is used to develop a new formulation of the manipulator dynamics in which two independent O(N ) recursions proceeding in opposite directions are summed together to obtain the complete free{ ying manipulator dynamics. Computation of the operational space inertia for the links in the manipulator is also discussed.
منابع مشابه
Dynamics of Space Free-Flying Robots with Flexible Appendages
A Space Free-Flying Robot (SFFR) includes an actuated base equipped with one or more manipulators to perform on-orbit missions. Distinct from fixed-based manipulators, the spacecraft (base) of a SFFR responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit d...
متن کاملManipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach
Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...
متن کاملFree-flying robots in space: an overview of dynamics modeling, planning and control
Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algor...
متن کاملBase-Invariant Symmetric Dynamics of llee-1.!’lying Space Manipuhtors
I%e-jlying space manipulators have a symmetry not normally encountered in terrestrial . . manipulators, arising from the freedom oj choice jor the manipulator base-body. This paper analyzes the ndationship between this natuml symmetry and the dynamical equations oj space manipulators. The symmetry is used to develop a new formulation oj the manipulator dynamics in which two independent O(JU) ~c...
متن کاملOptimal discrete-time control of robot manipulators in repetitive tasks
Optimal discrete-time control of linear systems has been presented already. There are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. This paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. The robot performs repetit...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 11 شماره
صفحات -
تاریخ انتشار 1995