Title :
Modeling and simulation of space robots
Author :
Saha, Subir Kumar
Author_Institution :
Toshiba Corp., Kawasaki, Japan
Abstract :
A method based on the natural orthogonal complement is proposed for the development of dynamic models of space robots. As an illustration, the method is used to develop a computer simulation of a space manipulator that moves on a plane. The simulation results can be displayed using an animation program that has been developed in parallel to this research
Keywords :
robot dynamics; animation program; computer simulation; dynamic models; natural orthogonal complement; space manipulator; space robots; Actuators; Attitude control; Communication system control; Computational modeling; Computer simulation; Manipulator dynamics; Motion control; Orbital robotics; Satellite broadcasting; Space vehicles;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583911
