A Study of Minimal Sensor Topologies for Space Robots
نویسندگان
چکیده
Sensing in space robotic systems is expensive but necessary to compensate for imprecise actuation, disturbances, and modeling errors. It has been shown that force/torque sensors can identify actuation efforts including joint torques and reaction jet forces for multi-manipulator free-flying space robots and greatly improves system precision. This paper studies the minimum number of sensors which can identify these actuation efforts. The method uses force/torque sensors to isolate sections of the system, which are reduced to canonical elements. This allows the analysis of a small number of elements. The results of the analysis of the canonical elements are combined to determine the number of sensors needed for the original system. Configurations of oneand two-manipulator space robots are examined here and the minimal number of sensors shown.
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