Computational efficient algorithms for operational space formulation of branching arms on a space robot

Satoko Abiko, Gerd Hirzinger

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    5 Citations (Scopus)

    Abstract

    This paper presents efficient computational algorithms of operational space dynamics for free-flying and for free-floating space robots. Due to the lack of the fixed base, the operational space formulation of the space robot is more complex than the fixed base robot system. By paying attention to this unique characteristic, however, the novel algorithm of the operational space dynamics for a single-serial-arm space robot is derived. Furthermore, by using the concept of the articulated-body system, recursive computation algorithms of the operational space formulation for a branching-arms on the space robot is developed. The realistic dynamic simulations are illustrated to verify the computational efficiency.

    Original languageEnglish
    Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    Pages3312-3317
    Number of pages6
    DOIs
    Publication statusPublished - 2008 Dec 1
    Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
    Duration: 2008 Sep 222008 Sep 26

    Publication series

    Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

    Other

    Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    CountryFrance
    CityNice
    Period08/9/2208/9/26

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

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