Energy efficient reactionless design of multi-arm space robot for a cooperative handshake maneuver

Sharma, Gaurav; Rout, B.K.

doi:10.1016/j.asr.2022.09.046

Cited by 5 publications

(1 citation statement)

References 30 publications

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“…Aerospace [36][37][38][39][40][41][42][43] CRMs ability to work alongside human operators, enhance efficiency, and perform tasks that are challenging or unsafe for humans makes them valuable tools in aerospace manufacturing, maintenance, inspection, training, space exploration, and research. Grasping a non-cooperative object [37,42], carrying a load with UAVs [38,41], on-orbit capture, space structure construction and assembly tasks [39], and grasping non-cooperative objects with specific orientations [43]. 1 A comprehensive survey for additive manufacturing application is presented in [17].…”

Section: Types Specific Applicationsmentioning

confidence: 99%

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Ghorbanpour

2023

Dynamics

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Robot manipulators possess the capability to autonomously execute complex sequences of actions. Their proficiency in handling challenging and hazardous tasks has led to their widespread adoption across diverse sectors, including industry, business, household appliances, rehabilitation, and many more. However, certain tasks prove to be challenging for individual robots, primarily due to constraints in their structure and limited degrees of freedom. Cooperative robot manipulators (CRMs) emerge as a compelling solution when dealing with large, heavy, or flexible payloads. The utilization of CRMs offers a host of benefits, including enhanced manipulation performance achieved through the synergy of sensing and actuation capabilities or by tapping into increased redundancy. Numerous techniques have been devised for the control and dynamical modeling of CRMs. Nevertheless, the field continues to present technical challenges and scientific inquiries. To inspire and facilitate further research and development in this realm, this review aims to consolidate the current body of knowledge pertaining to CRMs kinematics, dynamics modeling, and various control methodologies used for payload manipulation via CRMs.

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