Hybrid simulation of a dual-arm space robot colliding with a floating object

Ryohei Takahashi, Hiroto Ise, Atsushi Konno, Masaru Uchiyama, Daisuke Sato

    研究成果: Conference contribution

    31 被引用数 (Scopus)

    抄録

    In order to verify orbital operations of a dual-arm space robot on the ground, a hybrid simulator (hardware in the loop simulator) is developed. The hybrid simulator includes a 14-degrees-of-freedom (14-DOF) dual-arm robot and 9-DOF motion table. A hybrid simulator has a great advantage in simulating complicated collision with multiple contacts, because it is difficult for a numerical simulation to get reliable and accurate results of such complicated phenomena. In this paper, the system architecture and the motion planning for three motion tables are presented. Two experiments are performed to confirm the basic motion and simulate a free-flying dual-arm space robot colliding with a floating object. The feasibility of robot operation is discussed from showing the position and force data obtained in the motion simulation.

    本文言語English
    ホスト出版物のタイトル2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    ページ1201-1206
    ページ数6
    DOI
    出版ステータスPublished - 2008 9 18
    イベント2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
    継続期間: 2008 5 192008 5 23

    出版物シリーズ

    名前Proceedings - IEEE International Conference on Robotics and Automation
    ISSN(印刷版)1050-4729

    Other

    Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    CountryUnited States
    CityPasadena, CA
    Period08/5/1908/5/23

    ASJC Scopus subject areas

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

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