A Modular and Flexible Bimanipulation System for Space-Analogue Experiments
نویسندگان
چکیده
This paper presents a system developed with off-the shelf components which will be used to study humanrobot cooperative tasks from tele-manipulation to supervisory control. The approach enables the design to be modular and flexible, thus presenting an upgradable laboratory and test bed for prototyping autonomy-enhanced and supervised-control activities for Space-Analogue Mobile Manipulation.
منابع مشابه
Manipulation 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 کاملDynamics 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 کاملFixed point theorem for non-self mappings and its applications in the modular space
In this paper, based on [A. Razani, V. Rako$check{c}$evi$acute{c}$ and Z. Goodarzi, Nonself mappings in modular spaces and common fixed point theorems, Cent. Eur. J. Math. 2 (2010) 357-366.] a fixed point theorem for non-self contraction mapping $T$ in the modular space $X_rho$ is presented. Moreover, we study a new version of Krasnoseleskii's fixed point theorem for $S+T$, where $T$ is a cont...
متن کاملNear-Minimum Time Optimal Control of Flexible Spacecraft during Slewing Maneuver
The rapid growth of space utilization requires extensive construction, and maintenance of space structures and satellites in orbit. 
This will, in turn, substantiate application of robotic systems in space. In this paper, a near-minimum-time optimal control law is developed for a rigid space platform with flexible links during an orientating maneuver with large angle of rotation. The time op...
متن کاملDouble Sequence Iterations for Strongly Contractive Mapping in Modular Space
In this paper, we consider double sequence iteration processes for strongly $rho$-contractive mapping in modular space. It is proved, these sequences, convergence strongly to a fixed point of the strongly $rho$-contractive mapping.
متن کامل