Contact and impact dynamics of space manipulator and free-flying target

被引:0
作者
Huang, PF [1 ]
Xu, YS [1 ]
Liang, B [1 ]
机构
[1] Chinese Univ Hong Kong, Dept Automat & Comp Aided Engn, Shatin, Hong Kong, Peoples R China
来源
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年
关键词
space manipulator; dynamics; contact and impact; free-flying target;
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
In this article, we discuss the dynamics characteristics of contact and impact when the hand of space manipulator captures the free-flying target (FFT). we establish the dynamics model of contact and impact between a space manipulator and FFT. The pre-impact, post-impact effect and condition of the space robot system and the FFT system are analyzed when there are any differences between the speed of the end-effector of the space manipulator and that of the contact and impact point on the surface of FFT. We present the relationship between the speed varieties of the space base and that of the FFT. If the impact force is kept constant, the speed varieties of the space base are different when the space robot system is at different configuration. Those methods can be used to analyze the contact and impact problem of the space robot.
引用
收藏
页码:1935 / 1940
页数:6
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