Title :
Impact dynamics of Space long reach manipulators
Author :
Yoshida, Kazuya ; Mavroidis, Constantinos ; Dubowsky, Steven
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Gakuin Univ., Sendai, Japan
Abstract :
The problem of impact dynamics of Space robotic systems that consist of a rigid manipulator supported by a flexible deployable structure is addressed. Due to joint back-drivability and the dynamic coupling between the manipulator and its supporting structure, unknown motion of the system occurs after it makes impulsive contact with the environment. A method that uses the system´s dynamic model is proposed to estimate the motion of the system after impact. This method which can be used to find ways to minimize the impact effect and vibrations of the supporting structure due to impact, is verified experimentally using the MIT Vehicle Emulation System (VES II). The experimental results show that the impact force and the system motion after impact can be reduced if the manipulator configuration prior to impact and the controller gains are properly selected
Keywords :
aerospace control; flexible structures; force control; manipulator dynamics; mobile robots; robot dynamics; space vehicles; vibration control; MIT Vehicle Emulation System; Space long-reach manipulators; Space robotic systems; VES II; dynamic coupling; flexible deployable structure; impact dynamics; impact effect minimization; impulsive contact; joint back-drivability; manipulator configuration; rigid manipulator; vibration minimization; Actuators; Damping; Friction; Gears; Manipulator dynamics; Motion estimation; Satellites; Tensile stress; Vehicle dynamics; Vibrations;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506990
