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.


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    Titel :

    Control Strategy for a Dual-Arm Maneuverable Space Robot


    Beteiligte:
    P. K. C. Wang (Autor:in)

    Erscheinungsdatum :

    1987


    Format / Umfang :

    10 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch








    Maneuverable Platforms

    KLOUZAL THEODORE J | Europäisches Patentamt | 2018

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