Paper Info
Title
Dynamics and control of space robot brachiating motion using handrails.
Abstract
We investigate brachiating motion dynamics and control of space robot using handrails on in-orbit structures in order to inspect, repair and/or construct them. We deal with one arm type space robot based on the Reconfigurable Brachiating space Robot (RBR). We conduct a micro-gravity flight experiment of the RBR, and we identify kinematical and dynamical parameters of the robot arm. Then, we conduct numerical simulations of 6 DOF robot arm dynamics under the constraint within a two-dimensional plane. It is assumed that the robot arm moves on a large space structure using handrails attached to the structure. When the handrail slowly vibrates due to flexibility of the large structure, then the robot behavior is influenced by its fluctuation. In this paper, we show the simulation results of brachiating motion and discuss the flexibility effects to the robot motion.
Year
DOI
Venue
2003
10.1109/IROS.2003.1249627
IROS
Keywords
Field
DocType
aerospace robotics,manipulator dynamics,manipulator kinematics,motion control,numerical analysis,zero gravity experiments,6 DOF,brachiating motion control,brachiating motion dynamics,degrees of freedom,dynamical parameters,flexibility effects,fluctuation,handrails,kinematical parameters,manipulators,microgravity flight experiment,numerical simulations,reconfigurable brachiating space robot,robot arm dynamics,space robot control,two-dimensional plane
Robot control,Robotic arm,Robot calibration,Computer science,Control theory,Simulation,Robot kinematics,Snake-arm robot,Control engineering,Robot end effector,Cartesian coordinate robot,Arm solution
Conference
Volume
Citations 
PageRank 
4
1
0.36
References 
Authors
0
2
Name
Order
Citations
PageRank
Hirotaka Sawada121.41
Saburo Matunaga2225.58