Contact dynamics modelling for the simulation of the Space Station manipulators handling payloads

Author

Ma, Ou

Author_Institution

Controls & Anal Dept., Spar Aerosp. Ltd., Weston, Ont., Canada

Volume

2

fYear

1995

fDate

21-27 May 1995

Firstpage

1252

Abstract

This paper describes a general approach to the modelling and simulation of contact dynamics for robotic systems. The contact bodies under consideration are arbitrary 3-D objects as long as their bounding surfaces are linear or quadratic. Multiple-contact and body flexibility are considered. Numerical iterative procedure is used to ensure the coupling between local contact forces and system´s dynamics at each simulation step. The approach has been implemented and integrated into a generic manipulator simulator currently being used to support the design of the Space Station manipulator systems

Keywords

aerospace control; dynamics; iterative methods; manipulators; materials handling; mechanical contact; modelling; simulation; space vehicles; Space Station; body flexibility; contact dynamics modelling; iterative procedure; local contact forces; payload handling; robotic systems; simulation; space manipulators; system dynamics; Aerodynamics; Control system analysis; Control systems; Interference; Manipulator dynamics; Orbital robotics; Payloads; Robotics and automation; Solid modeling; Space stations;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525453

Filename

525453