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

Kazuya Yoshida; Dragomir N. Nenchev

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

Kazuya Yoshida, Dragomir N. Nenchev

ENG - Aerospace Engineering

Research output: Contribution to journal › Conference article › peer-review

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 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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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.",

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AU - Nenchev, Dragomir N.

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AB - 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.

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M3 - Conference article

AN - SCOPUS:0029184072

VL - 2

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EP - 1277

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

T2 - Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)

Y2 - 21 May 1995 through 27 May 1995

ER -

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

Abstract

ASJC Scopus subject areas

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