Title :
Modeling of impact dynamics and control for coordinated motion of space manipulator
Author_Institution :
Xiamen Univ. of Technol., Xiamen, China
Abstract :
The impact dynamics and control of free-floating space manipulator is discussed. The impact dynamics of system is modeling. To simulate the post-impact dynamics, the velocities of base´s attitude and each joint after impact are derived from the impact model. Based on the results, the controller is designed for the free-floating space manipulator. The numerical simulation is carried out, which confirms the controller proposed is feasible and effective.
Keywords :
aerospace robotics; impact (mechanical); manipulators; motion control; numerical analysis; . Based on the; coordinated motion control; free-floating space manipulator; modeling; numerical simulation; post-impact dynamics; Aerospace electronics; Bismuth; Dynamics; Intelligent robots; Manipulator dynamics; Capturing operation; Dynamic Control; Free-floating space manipulator; Impact dynamics;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
