Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor

Kazuya Yoshida, Naoki Sashida, Ryo Kurazume, Yoji Umetani

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

59 Citations (Scopus)

Abstract

The authors present a basic formulation of motion dynamics of a free-floating rigid-link system to establish a basis of the collision dynamics. They propose a novel concept named extended generalized inertia tensor (Ex-GIT), which is an extended version of the GIT for ground-based arms, and discuss the virtual mass concept. By means of these concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages899-904
Number of pages6
ISBN (Print)0818627204
Publication statusPublished - 1992 Apr 1
Externally publishedYes
EventProceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: 1992 May 121992 May 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1

Other

OtherProceedings 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period92/5/1292/5/14

ASJC Scopus subject areas

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

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  • Cite this

    Yoshida, K., Sashida, N., Kurazume, R., & Umetani, Y. (1992). Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 899-904). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Publ by IEEE.