Research of impact issues during dual-arm space manipulator capturing object

Pei Chao Cong; Zhao Wei Sun

Research of impact issues during dual-arm space manipulator capturing object

Pei Chao Cong^*
, Zhao Wei Sun

^*Corresponding author for this work

School of Astronautics

Liaoning Technical University
Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

The impact issues during dual-arm or multi-arm space manipulator capturing object was studied by extending the concept of "Generalized Straight-Arm Capture(GSAC)" to a dual-arm system. The configuration satisfied "GSAC" can reduce the effect of impact force, and guarantee the stability of system, then avoids the limit of joint velocity when control the compound. Finally, one unique strategy of capturing object was proposed, which accomplishes the capture and controls the attitude of base effectively.

Original language	English
Pages (from-to)	234-241
Number of pages	8
Journal	Sichuan Daxue Xuebao (Gongcheng Kexue Ban)/Journal of Sichuan University (Engineering Science Edition)
Volume	42
Issue number	4
State	Published - Jul 2010

Keywords

Attitude
Base
Manipulator configuration
Momentum conservation
Space manipulator

Cite this

@article{ff287f42cee54d80952dda685759a7a4,

title = "Research of impact issues during dual-arm space manipulator capturing object",

abstract = "The impact issues during dual-arm or multi-arm space manipulator capturing object was studied by extending the concept of {"}Generalized Straight-Arm Capture(GSAC){"} to a dual-arm system. The configuration satisfied {"}GSAC{"} can reduce the effect of impact force, and guarantee the stability of system, then avoids the limit of joint velocity when control the compound. Finally, one unique strategy of capturing object was proposed, which accomplishes the capture and controls the attitude of base effectively.",

keywords = "Attitude, Base, Manipulator configuration, Momentum conservation, Space manipulator",

author = "Cong, \{Pei Chao\} and Sun, \{Zhao Wei\}",

year = "2010",

month = jul,

language = "英语",

volume = "42",

pages = "234--241",

journal = "Sichuan Daxue Xuebao (Gongcheng Kexue Ban)/Journal of Sichuan University (Engineering Science Edition)",

issn = "1009-3087",

publisher = "Editorial Department of Journal of Sichuan University",

number = "4",

}

TY - JOUR

T1 - Research of impact issues during dual-arm space manipulator capturing object

AU - Cong, Pei Chao

AU - Sun, Zhao Wei

PY - 2010/7

Y1 - 2010/7

N2 - The impact issues during dual-arm or multi-arm space manipulator capturing object was studied by extending the concept of "Generalized Straight-Arm Capture(GSAC)" to a dual-arm system. The configuration satisfied "GSAC" can reduce the effect of impact force, and guarantee the stability of system, then avoids the limit of joint velocity when control the compound. Finally, one unique strategy of capturing object was proposed, which accomplishes the capture and controls the attitude of base effectively.

AB - The impact issues during dual-arm or multi-arm space manipulator capturing object was studied by extending the concept of "Generalized Straight-Arm Capture(GSAC)" to a dual-arm system. The configuration satisfied "GSAC" can reduce the effect of impact force, and guarantee the stability of system, then avoids the limit of joint velocity when control the compound. Finally, one unique strategy of capturing object was proposed, which accomplishes the capture and controls the attitude of base effectively.

KW - Attitude

KW - Base

KW - Manipulator configuration

KW - Momentum conservation

KW - Space manipulator

UR - https://www.scopus.com/pages/publications/77955462285

M3 - 文章

AN - SCOPUS:77955462285

SN - 1009-3087

VL - 42

SP - 234

EP - 241

JO - Sichuan Daxue Xuebao (Gongcheng Kexue Ban)/Journal of Sichuan University (Engineering Science Edition)

JF - Sichuan Daxue Xuebao (Gongcheng Kexue Ban)/Journal of Sichuan University (Engineering Science Edition)

IS - 4

ER -

Research of impact issues during dual-arm space manipulator capturing object

Abstract

Keywords

Other files and links

Fingerprint

Cite this