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.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Control Strategy for a Dual-Arm Maneuverable Space Robot


    Contributors:

    Publication date :

    1987


    Size :

    10 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English








    Maneuverable Platforms

    KLOUZAL THEODORE J | European Patent Office | 2018

    Free access