Automated object capturing with a two-arm flexible manipulator

Tomohiro Miyabe, Atsushi Konno, Masaru Uchiyama

Research output: Contribution to journalConference articlepeer-review

15 Citations (Scopus)

Abstract

The recent developments in the space technology demand various services to the exhausted or damaged satellites such as refueling and repairing in order to extend their life spans. In this paper, an automated object capturing with a two-arm flexible manipulator is addressed, which is a basic technology for such services. This object capturing includes the symmetric cooperative control, the visual servoing, the resolution of the inverse kinematics problem and the optimization of the configuration of a two-arm redundant flexible manipulator. There have been no researches on such a practical application with the flexible manipulators so far. The effectiveness of this capturing sequence is validated with the experiment.

Original languageEnglish
Pages (from-to)2529-2534
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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