Impact analysis and post-impact motion control issues of a free-floating space robot contacting a tumbling object

Dragomir N. Nenchev, Kazuya Yoshida

Research output: Contribution to journalConference articlepeer-review

10 Citations (Scopus)

Abstract

This work is an extension of our previous result, mainly to tackle the post-impact control problem. We focus on the specific case of a nonredundant arm and a reaction null space in terms of base angular motion. It is shown that with proper post-impact manipulator control it is possible to swiftly transfer the whole angular momentum from the base toward the manipulator, and in the same time to reduce the joint velocity.

Original languageEnglish
Pages (from-to)913-918
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 1998 Jan 1
Externally publishedYes
EventProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Leuven, Belgium
Duration: 1998 May 161998 May 20

ASJC Scopus subject areas

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

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