Space robot impact analysis and satellite-base impulse minimization using reaction null-space

Kazuya Yoshida, Dragomir N. Nenchev

Research output: Contribution to journalConference article

40 Citations (Scopus)

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 languageEnglish
Pages (from-to)1271-1277
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - 1995 Jan 1
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

ASJC Scopus subject areas

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

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