Abstract
This paper presents a discussion on impact dynamics analysis when a free-floating space robot has impact with infinite small time period by the contact or capturing of a target. The concept of reaction null-space is introduced and applied to estimate and minimize the impulsive reaction force or attitude disturbance at the base of a space robot. The possibility to simultaneously optimize the impact impulse at the hand and reaction impulse at the base is highlighted.
| Original language | English |
|---|---|
| Pages (from-to) | 1271-1277 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| Publication status | Published - 1995 Jan 1 |
| Event | Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn Duration: 1995 May 21 → 1995 May 27 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
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Cite this
Yoshida, K., & Nenchev, D. N. (1995). Space robot impact analysis and satellite-base impulse minimization using reaction null-space. Proceedings - IEEE International Conference on Robotics and Automation, 2, 1271-1277.