Impact dynamics of space long reach manipulators

Kazuya Yoshida, Constantinos Mavroidis, Steven Dubowsky

Research output: Contribution to journalConference article

17 Citations (Scopus)

Abstract

The problem of impact dynamics of space robotic systems that consist of a rigid manipulator supported by a flexible deployable structure is addressed. Due to joint back-drivability and the dynamic coupling between the manipulator and its supporting structure, unknown motion of the system occurs after it makes impulsive contact with the environment. A method that uses the system's dynamic model is proposed to estimate the motion of the system after impact. This method which can be used to find ways to minimize the impact effect and vibrations of the supporting structure due to impact, is verified experimentally using the MIT Vehicle Emulation System (VES II). The experimental results show that the impact force and the system motion after impact can be reduced if the manipulator configuration prior to impact and the controller gains are properly selected.

Original languageEnglish
Pages (from-to)1909-1916
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - 1996 Jan 1
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 1996 Apr 221996 Apr 28

ASJC Scopus subject areas

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

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