Impact analysis and post-impact motion control issues of a free-floating space robot subject to a force impulse

Dragomir N. Nenchev, Kazuya Yoshida

Research output: Contribution to journalArticlepeer-review

155 Citations (Scopus)

Abstract

This article presents impact dynamic analysis of a free-floating space robot, subject to a force impulse at the hand. We study the joint and the base reactions in terms of finite velocity changes and clarify their role for the post-impact motion behavior of the robot. The analysis makes use of a joint-space orthogonal decomposition procedure involving the so called reaction null space. The article focuses on the specific case of a nonredundant arm and a reaction null space in terms of base angular motion. We further show that with proper post-impact control it is possible to 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)548-557
Number of pages10
JournalIEEE Transactions on Robotics and Automation
Volume15
Issue number3
DOIs
Publication statusPublished - 1999 Jan 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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