Volume 28 Issue 6
Jun.  2002
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REN Jing-yi, SUN Han-xu. Kinematics Analysis and Simulation of Free-Floating Space Robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2002, 28(6): 613-616. (in Chinese)
Citation: REN Jing-yi, SUN Han-xu. Kinematics Analysis and Simulation of Free-Floating Space Robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2002, 28(6): 613-616. (in Chinese)

Kinematics Analysis and Simulation of Free-Floating Space Robot

  • Received Date: 29 Mar 2001
  • Publish Date: 30 Jun 2002
  • The movement of the end-effector of free-floating space robot is related to not only the movement of each joint, but also the trajectory and the mass distribution of each link. This is the most distinct difference between free-floating space robot and terrestrial robot. Thus, the kinematics of free-floating space robot is closely connected with its dynamics. Screw theory and linear and angular momentum conservation were used to analyze free-floating space robot system. A general jacobian was derived, which includes the system's mass. On the above basis, a movement simulation of free-floating space robot was given.

     

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  • [1] Vafa Z, Dubowsky S. The kinematics and dynamics of space manipulators:the virtual manipulator approach [J]. The International Journal of Robotics Research, 1990, 9(4):3~21. [2]Mukherjee R, Nakamura Y. Formulation and efficient computation of inverse dynamics of space robots [J]. IEEE Transactions on Robotics and Automation,1992, 8(3):400~406. [3]Yokokohji Y, Toyoshima T, Yoshikawa T. Efficient computational algorithms for trajectory control of free-flying space robots with multiple arms [J]. IEEE Transactions on Robotics and Automation, 1993, 9(5):571~580. [4]Murray R, Li Z, Sastry S. A mathematical introduction to robotic manipulation [M]. Boca Raton FL:CRC Press, 1994. [5]Saha S K. A unified approach to space robot kinematics [J]. IEEE Transactions on Robotics and Automation, 1996, 12(3):401~405.
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