Title :
Using impedance controlled robots for simulating manipulation tasks occurring in a gravityless environment
Author :
Vossoughi, Rem ; Donath, Max
Author_Institution :
Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
Abstract :
The use of impedance-controlled robots for simulating inertial loading effects is investigated. This is specifically of interest for replicating manipulation tasks occurring in a gravityless environment on the ground where gravitational forces exist. Results based on a simplified linear robot model are obtained. A description is given of some of the limitations as well as some necessary conditions for maintaining stability during manipulative interactions between a robot carrying out a task and a robot providing inertial response on a manipulated payload
Keywords :
aerospace control; aerospace simulation; robots; aerospace control; aerospace simulation; gravityless environment; impedance controlled robots; inertial loading effects; linear robot model; manipulation tasks simulation; stability; Earth; Force control; Impedance; Orbital robotics; Payloads; Robot control; Satellites; Space stations; Stability; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.125947
