Dynamics modeling of structure-varying kinematic chains for free-flying robots

Author

Lampariello, Roberto ; Abiko, Satoko ; Hirzinger, Gerd

Author_Institution

German Aerosp. Center (DLR), Inst. of Robot. & Mechatron., Wessling

fYear

2008

fDate

19-23 May 2008

Firstpage

1207

Lastpage

1212

Abstract

A new method for the computation of the dynamics of structure-varying kinematic chains is proposed. This is based on the complete redefinition of the system connectivity deriving from a given structural change. The derived computational efficiency is then described with examples of typical motion planning tasks and structure changes for free-flying robots. These include open branched chains and closed loops, in free and grappled conditions. The method may then contribute to the efficiency of motion planning for robots which may require different kinematic structures for a given task.

Keywords

aerospace robotics; mobile robots; path planning; robot kinematics; computational efficiency; dynamics modeling; free-flying robots; grappled conditions; kinematic structures; motion planning tasks; structure-varying kinematic chains; Aerodynamics; Computational efficiency; Kinematics; Manipulators; Mechatronics; Motion planning; Orbital robotics; Robotics and automation; Robots; USA Councils;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Conference_Location

Pasadena, CA

ISSN

1050-4729

Print_ISBN

978-1-4244-1646-2

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2008.4543368

Filename

4543368