A simple strategy for the attitude control and arm coordination of a maneuverable space robot with dual arms is proposed. The basic task for the robot consists of the placement of marked rigid solid objects with specified pairs of gripping points and a specified direction of approach for gripping. The strategy consists of three phases each of which involves only elementary rotational and translational collision-free maneuvers of the robot body. Control laws for these elementary maneuvers are derived by using a body-referenced dynamic model of the dual-arm robot.
Control Strategy for a Dual-Arm Maneuverable Space Robot
1987
10 pages
Report
Keine Angabe
Englisch
Control strategy for a dual-arm maneuverable space robot
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