Impact analysis and post-impact motion control issues of a free-floating Space robot subject to a force impulse

1999 ◽  
Vol 15 (3) ◽  
pp. 548-557 ◽  
Author(s):  
D.N. Nenchev ◽  
K. Yoshida
Keyword(s):  
Motion Control ◽  
Impact Analysis ◽  
Space Robot ◽  
Post Impact ◽  
Impact Motion

scholarly journals Impact motion control of a flexible dual-arm space robot for capturing a spinning object

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985753
Author(s):  
Xiali Li ◽  
Licheng Wu
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Initial Conditions ◽  
Autonomous Vehicle ◽  
Stable State ◽  
Momentum Conservation ◽  
Space Robot ◽  
Dynamics Response ◽  
The Impact ◽  
Dual Arm

As an autonomous vehicle that moves on the space orbit, a space robot needs to be carefully treated on the motion planning and control method. In this article, the optimal impact and postimpact motion control of a flexible dual-arm space robot capturing a spinning object are considered. Firstly, the dynamic model of the robot systems is built by using Lagrangian formulation. The flexible links are modeled as Euler–Bernoulli beams of two bending modes. Through simulating the system’s postimpact dynamics response, the initial conditions are obtained from the impact model. Next, the initial velocities of base and joint are adjusted to minimize the velocity of the base after the capture according to generalized momentum conservation. After the capture, a proportional–derivative controller is designed to keep the robot system’s stabilization. The simulation results show that joint angles of base and manipulators reach stable state quickly, and motions of the space robots also induce vibrating motions of the flexible manipulators.

Coordinated motion control of a dual-arm space robot for assembling modular parts

2020 ◽  
Vol 177 ◽  
pp. 627-638
Author(s):  
Shuji Yang ◽  
Hao Wen ◽  
Yunhao Hu ◽  
Dongping Jin
Keyword(s):  
Motion Control ◽  
Space Robot ◽  
Coordinated Motion ◽  
Dual Arm

scholarly journals Impact motion control of humanoid robot BHR-5 based on the energy integral method

2016 ◽  
Vol 8 (1) ◽  
pp. 168781401562602
Author(s):  
Fei Meng ◽  
Xiaopeng Chen ◽  
Zhangguo Yu ◽  
Xuechao Chen ◽  
Mingliang Zhou ◽  
...  
Keyword(s):  
Motion Control ◽  
Integral Method ◽  
Humanoid Robot ◽  
Energy Integral ◽  
Impact Motion
Sign in / Sign up

Export Citation Format

Share Document