Dynamics and simulation of a space robot in a gravitational field

被引：1
|
作者：
Isenberg, Douglas R. [1 ]
机构：
[1] Univ N Carolina, Dept Elect & Comp Engn, Charlotte, NC 28223 USA
来源：
PROCEEDINGS IEEE SOUTHEASTCON 2008, VOLS 1 AND 2 | 2008年
关键词：
D O I：
10.1109/SECON.2008.4494301
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
In this paper, three dynamical models of a two link space robot are developed. One model treats the gravitational field as constant over the volume of the robot and another model uses 0(th) order Taylor series expansions of a continuous gravitational field over the volume of the robot. A third model neglects the effects of gravity. The three models are then simulated in aftee-fall condition. The simulations show that the gravitational forces on a space robot are significant enough such that they should not be neglected from the dynamical model.
引用
下载
收藏
页码：268 / 273
页数：6
相关论文
共 50 条
  • [21] Gravitational Frames and Scalar Field Dynamics
    M. T. Ozaydin
    N. Pirinccioglu
    International Journal of Theoretical Physics, 2019, 58 : 1836 - 1844
  • [22] Physics of gravitational interaction: Geometry of space or quantum field in space
    Baryshev, Yurij
    1st Crisis in Cosmology Conference, CCC-I, 2006, 822 : 144 - 147
  • [23] Operation Simulation of a Robot for Space Applications
    Li, Hui
    Carbone, Giuseppe
    Ceccarelli, Marco
    Huang, Qiang
    INTELLIGENT ROBOTICS AND APPLICATIONS, PT I: ICIRA 2011, 2011, 7101 : 122 - +
  • [24] Gravitational Field Equations on Fefferman Space–Times
    Elisabetta Barletta
    Sorin Dragomir
    Howard Jacobowitz
    Complex Analysis and Operator Theory, 2017, 11 : 1685 - 1713
  • [25] The gravitational field of the SdS space-time
    Manjunatha, H. M.
    Narasimhamurthy, S. K.
    Nekouee, Z.
    INTERNATIONAL JOURNAL OF GEOMETRIC METHODS IN MODERN PHYSICS, 2020, 17 (05)
  • [26] Phase space quantization, noncommutativity, and the gravitational field
    Chatzistavrakidis, Athanasios
    PHYSICAL REVIEW D, 2014, 90 (02):
  • [27] Dynamics Modeling and Simulation of Robot Manipulator
    Yang, Lixin
    Zhang, Xianming
    INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT III, 2015, 9246 : 525 - 535
  • [28] SIMULATION OF ROBOT DYNAMICS WITH THE METHOD OF KANE
    WLOKA, D
    BLUG, K
    ROBOTERSYSTEME, 1985, 1 (04): : 211 - 216
  • [29] Dynamics simulation for flexible parallel robot
    Zhu, Chunxia
    Zhu, Lida
    Liu, Yongxia
    Cai, Guangqi
    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 2155 - 2159
  • [30] Hamiltonian structures of dynamics of a gyrostat in a gravitational field
    Yue Wang
    Shijie Xu
    Nonlinear Dynamics, 2012, 70 : 231 - 247
12345