Modeling of impact dynamics and impulse minimization for space robots

Kazuya Yoshida, Naoki Sashida

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

Abstract

The focus of this paper is to investigate impact dynamics among space free-floating multibody systems, by developing an extended inertial tensor concept, and to establish the teoretical basis for floating chains collisions. The authors have developed a concept named 'Extended Inversed Inertia Tensor (Ex-IIT)' paying attention to free-floating behavior in space environment. This paper applies the Ex-IIT to impulse minimization arguments. To illustrate the magnitude of the impulses caused by link collisions in various conditions, new concepts of Impulse Index and Impulse Ellipsoid are introduced. By means of these concepts, we discuss the relationship of the impulse with collision directions and link postures, in order to figure out the condition minimizing the impulse.

Original languageEnglish
Title of host publication1993 International Conference on Intelligent Robots and Systems
Editors Anon
PublisherPubl by IEEE
Pages2064-2069
Number of pages6
ISBN (Print)0780308239
Publication statusPublished - 1993
Externally publishedYes
EventProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: 1993 Jul 261993 Jul 30

Publication series

Name1993 International Conference on Intelligent Robots and Systems

Other

OtherProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityYokohama, Jpn
Period93/7/2693/7/30

ASJC Scopus subject areas

  • Engineering(all)

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