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 Dec 9
    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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