TY - GEN
T1 - Typical Topology Variation and Dynamic Transformation Method for Multi-arm Space Robot
AU - Wang, Hongxu
AU - Guo, Jinsheng
AU - Liu, Ziran
AU - Lin, Tao
AU - Yue, Chengfei
AU - Cao, Xibin
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Dynamic modeling is the key technology in studying multi-arm space robots with variable topology. The difficulty lies in establishing the transformation from one topology to the other one. In this paper, typical configurations applied in orbit manipulation are demonstrated and the corresponding dynamic model are built based on spatial operator algebra(SOA). Then a general topological transformation method is proposed via factored serial topological variation. Finally, listed dynamic model of the configuration verifies the transformation result.
AB - Dynamic modeling is the key technology in studying multi-arm space robots with variable topology. The difficulty lies in establishing the transformation from one topology to the other one. In this paper, typical configurations applied in orbit manipulation are demonstrated and the corresponding dynamic model are built based on spatial operator algebra(SOA). Then a general topological transformation method is proposed via factored serial topological variation. Finally, listed dynamic model of the configuration verifies the transformation result.
UR - https://www.scopus.com/pages/publications/85147333899
U2 - 10.1109/ROBIO55434.2022.10011696
DO - 10.1109/ROBIO55434.2022.10011696
M3 - 会议稿件
AN - SCOPUS:85147333899
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 315
EP - 320
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -