The International Journal of Robotics Research · 1990 · 241 citations · 11 references
EngineeringAerospace EngineeringRobotics EngineeringRobot DynamicsRobot KinematicsRoboticsKinematic ModelingKinematicsManipulator ControlManipulator DesignManipulator DynamicsRigid Body KinematicsDynamics Of Robotic ManipulatorsManipulator KinematicsManipulator ModelingRobot Manipulator Equations Of MotionSpace Robot Dynamics
Space robotic manipulators will be required for complex tasks such as satellite repair, but dynamic coupling with the spacecraft creates kinematic, dynamic, and control challenges that make analysis difficult. The paper proposes the Virtual Manipulator (VM), an analytical modeling method featuring a fixed inertial base at a Virtual Ground. Using the VM, the kinematics and dynamics of the manipulator, spacecraft, and payload are expressed in a simplified inertial framework. The VM demonstrates potential as an effective tool for analyzing, designing, and developing future space manipulator systems.
Future robotic manipulator systems will be required to per form complex tasks in space such as satellite repair. These robotic manipulators will encounter a number of kinematic, dynamic, and control problems caused by the dynamic coup ling between the manipulators and its spacecraft. This dy namic coupling also makes it difficult to analyze these sys tems. This paper introduces a new analytical modeling method for space manipulators called the Virtual Manipula tor (VM), which has a fixed base in inertial space at a point called a Virtual Ground. The kinematics and dynamics of the manipulator, spacecraft, and payload can be described relatively easily in terms of the VM. With its fixed base, the Virtual Manipulator is shown to have the potential to be an effective aid for the analysis, design, and development of future space manipulator systems.
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Human supervisory control of robot systems
T.B. Sheridan · 1986 · 115 citations
Engineering, Mechanical Engineering, Robotics Engineering +17