Calculation and simulation of the space manipulator experiment

Author

Ji-Ping, Lu ; Shui-Yuan, Tang ; Yan, Yan ; Ke-Fei, Miao

Author_Institution

Sch. of Mech. & Vehicular Eng., Beijing Inst. of Technol., Beijing, China

Volume

1

fYear

2010

fDate

29-31 Oct. 2010

Firstpage

74

Lastpage

78

Abstract

A self-servicing system of satellite is one coupling system. The attitude of satellite is affected by the movements of a manipulator. According to the structure of the arm, a dynamic model of the self-servicing system is put forward. The operations of the self-servicing system are simulated in ADAMS, which result shows that different movement paths of the arm make different influence on the attitude of the satellite. In order to test the functions of the system, an experiment is done on the air-bearing platform. This paper calculates and simulates the movement path of the experiment system. The result is valuable to guide the experiment on the air-bearing platform.

Keywords

aerospace robotics; attitude control; manipulator kinematics; path planning; telerobotics; ADAMS; air-bearing platform; arm structure; movement paths; satellite attitude; self-servicing system; space manipulator; Atmospheric modeling; Robots; component; dynamic model; simulation; the air bearing; the self-servicing system;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computing and Intelligent Systems (ICIS), 2010 IEEE International Conference on

Conference_Location

Xiamen

Print_ISBN

978-1-4244-6582-8

Type

conf

DOI

10.1109/ICICISYS.2010.5658720

Filename

5658720