Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor

Kazuya Yoshida, Naoki Sashida, Ryo Kurazume, Yoji Umetani

研究成果: Conference contribution

66 被引用数 (Scopus)

抄録

The authors present a basic formulation of motion dynamics of a free-floating rigid-link system to establish a basis of the collision dynamics. They propose a novel concept named extended generalized inertia tensor (Ex-GIT), which is an extended version of the GIT for ground-based arms, and discuss the virtual mass concept. By means of these concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Publ by IEEE
ページ899-904
ページ数6
ISBN(印刷版)0818627204
出版ステータスPublished - 1992 4 1
外部発表はい
イベントProceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
継続期間: 1992 5 121992 5 14

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
1

Other

OtherProceedings 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period92/5/1292/5/14

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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