ON THE DYNAMICS OF SPACE MANIPULATORS USING THE VIRTUAL MANIPULATOR, WITH APPLICATIONS TO PATH PLANNING

被引：0

作者：

VAFA, Z ^{[1
]}

DUBOWSKY, S ^{[1
]}

机构：

[1] MIT,MECH ENGN,CAMBRIDGE,MA 02139

来源：

JOURNAL OF THE ASTRONAUTICAL SCIENCES | 1990年 / 38卷 / 04期

关键词：

D O I：

暂无

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

Robotic manipulators carried by future spacecraft are expected to perform important tasks in space, such as the servicing of satellites. However, the performance of these systems could be severely degraded by dynamic disturbances to the spacecraft caused by manipulator motions. This paper presents a method for representing the dynamics of space manipulator systems using the recently developed Virtual Manipulator (VM) concept. This representation is then applied to develop algorithms which can be used to plan manipulator motions that minimize disturbances of the spacecraft.

引用

页码：441 / 472

页数：32

共 50 条

[1] THE KINEMATICS AND DYNAMICS OF SPACE MANIPULATORS - THE VIRTUAL MANIPULATOR APPROACH
VAFA, Z
DUBOWSKY, S
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1990, 9 (04): : 3 - 21
[2] Path planning of a mobile manipulator using virtual window.
Morris, AS
Mansor, MA
[J]. UKACC INTERNATIONAL CONFERENCE ON CONTROL '98, VOLS I&II, 1998, : 1186 - 1191
[3] An optimum path planning for Cassino Parallel Manipulator by using inverse dynamics
Carbone, G.
Ceccarelli, M.
Oliveira, P. J.
Saramago, S. E. P.
Carvalho, J. C. M.
[J]. ROBOTICA, 2008, 26 : 229 - 239
[4] Motion planning optimization of trajectory path of space manipulators
Qiao, Dong
[J]. International Journal of Metrology and Quality Engineering, 2019, 10
[5] Path planning for space manipulators to reduce attitude disturbances
Okubo, H
Nagano, N
Komatsu, N
Tsumura, T
[J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 1997, 20 (03) : 609 - 611
[6] ON THE GLOBAL OPTIMUM PATH PLANNING FOR REDUNDANT SPACE MANIPULATORS
AGRAWAL, OP
XU, YS
[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1994, 24 (09): : 1306 - 1316
[7] AUTONOMOUS PATH PLANNING OF SPACE MANIPULATOR FOR CAPTURING A TARGET USING VISUAL INFORMATION
Guan, Yingzi
Song, Chunlin
Dong, Huijuan
[J]. PROCEEDINGS OF THE ASME CONFERENCE ON INFORMATION STORAGE AND PROCESSING SYSTEMS, 2016, 2016,
[8] Manipulator path planning in 3-dimensional space
Pavlov, Dmitry
[J]. COMPUTER SCIENCE - THEORY AND APPLICATIONS, 2006, 3967 : 505 - 513
[9] Path Planning and Optimization of Humanoid Manipulator in Cartesian Space
Li S.
Li X.
Han K.
Xiong Y.
Xie Z.
Chen J.
[J]. Journal of Shanghai Jiaotong University (Science), 2022, 27 (05) : 614 - 620
[10] Multiple manipulators path planning using double A
Tavares, Pedro
Lima, Jose
Costa, Pedro
Paulo Moreira, A.
[J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2016, 43 (06): : 657 - 664

← 1 2 3 4 5 →