Dynamics of a multimodule variable geometry manipulator

Caron, M.; Modi, V. J.; Misra, A. K.

doi:10.1016/s0094-5765(01)00214-4

Cited by 3 publications

(1 citation statement)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To perceive different problems in flexible space manipulators one could see variant approaches of extensive series of studies. [45][46][47][48][49][50][51][52]…”

Section: Space Robotic Systemsmentioning

confidence: 99%

Free-flying robots in space: an overview of dynamics modeling, planning and control

Moosavian¹,

Papadopoulos²

2007

Robotica

164

View full text Add to dashboard Cite

SUMMARYFree-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed.

show abstract

“…To perceive different problems in flexible space manipulators one could see variant approaches of extensive series of studies. [45][46][47][48][49][50][51][52]…”

Section: Space Robotic Systemsmentioning

confidence: 99%