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. The method which uses an idea of virtual inertia increment due to frictions and servo control torques, 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.
|Number of pages||16|
|Publication status||Published - 1996 Jan 1|
|Event||Proceedings of the 1996 3rd International Conference on Dynamics and Control of Structures in Space, SPACE 96 - Bedfordshire, UK|
Duration: 1996 May 27 → 1996 May 31
|Other||Proceedings of the 1996 3rd International Conference on Dynamics and Control of Structures in Space, SPACE 96|
|Period||96/5/27 → 96/5/31|
ASJC Scopus subject areas