Virtual Manipulator Model for Space Robotic Systems
Virtual Manipulator Model for Space Robotic Systems
- New search for: S. Dubowsky
- New search for: Z. Vafa
- New search for: S. Dubowsky
- New search for: Z. Vafa
Future robotic manipulators carried by a spacecraft will be required to perform complex tasks in space, like repairing satellites. Such applications of robotic manipulators will encounter a number of kinematic, dynamic and control problems due to the dynamic coupling between the manipulators and the spacecraft. A new analytical modeling method for studying the kinematics and dynamics of manipulators in space is presented. The problem is treated by introducing the concept of a Virtual Manipulator (VM). The kinematic and dynamic motions of the manipulator, vehicle and payload, can be described relatively easily in terms of the Virtual Manipulator movements, which have a fixed base in inertial space at a point called a Virtual Ground. It is anticipated that the approach described here will aid in the design and development of future space manipulator systems.
Document information
Virtual Manipulator Model for Space Robotic Systems
1987
10 pages
Report
No indication
English
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