The control problem of multiple manipulators installed on a free-flying space robot is presented. Kinematics and dynamics are studied and the generalized Jacobian matrix is formulated for the motion control of a multiarm system. Individual and coordinated control of dual manipulators is discussed. For the coordinated operation, a new method of controlling two arms simultaneously-one arm traces a given path, while the other arm works both to keep the satellite attitude and to optimize the total operation torque of the system-is developed. By means of this control method, an interesting torque optimum behavior is observed and a practical target capture operation is exhibited by computer simulation.


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    Title :

    Dual arm coordination in space free-flying robot


    Additional title:

    Duale Greifarmkoordinaten bei einem freifliegenden Roboter für die Raumfahrttechnik


    Contributors:
    Yoshida, K. (author) / Kurazume, R. (author) / Umetani, Y. (author)


    Publication date :

    1991


    Size :

    6 Seiten, 9 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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