Title :
Attitude disturbance minimization in space robot using dual arm
Author :
Deshpande, Nachiket P. ; Patolia, Haresh ; Pathak, Pushparaj M. ; Jain, Satish C.
Author_Institution :
CAM & Robot. at Mech. & Ind. Eng. Dept., Indian Inst. of Technol. Roorkee, Roorkee
Abstract :
This work presents the joint trajectory planning of dual arm space robot using bond graph to achieve minimum base attitude disturbance which may occur due to dynamic reaction forces and momentum. Bond graph was adopted for modeling as it facilitates the system modeling from the physical paradigm itself and it is easy to develop various control strategies by modifying the physical paradigm.
Keywords :
aerospace robotics; attitude control; bond graphs; manipulators; path planning; position control; attitude disturbance minimization; bond graph; dual arm space robot; joint trajectory planning; minimum base attitude disturbance; Bonding; Industrial engineering; Manipulator dynamics; Motion control; Orbital robotics; Power system modeling; Robot kinematics; Satellites; Space technology; Vehicles;
Conference_Titel :
Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4244-2631-7
Electronic_ISBN :
978-1-4244-2632-4
DOI :
10.1109/ICMA.2008.4798849
