Mapping a Space Manipulator to a Dynamically Equivalent Manipulator

In this paper, we discuss the problem of how a free-floating space manipulator can be mapped to a conventional, fixed-base manipulator which preserves both its dynamic and kinematic properties. This manipulator is called Dynamically Equivalent Manipulator (DEM). The DEM concept not only allows us to...

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Bibliographic Details
Published in:Journal of dynamic systems, measurement, and control measurement, and control, 1998-03, Vol.120 (1), p.1-7
Main Authors: Liang, Bin, Xu, Yangsheng, Bergerman, Marcel
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Robotics
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Summary:In this paper, we discuss the problem of how a free-floating space manipulator can be mapped to a conventional, fixed-base manipulator which preserves both its dynamic and kinematic properties. This manipulator is called Dynamically Equivalent Manipulator (DEM). The DEM concept not only allows us to model a free-floating space manipulator system with simple, well-understood methods, but also to build a conventional manipulator system to experimentally study the dynamic performance and task execution of a space manipulator system, without having to resort to complicated experimental set-ups to simulate the space environment. This paper presents the theoretical development of the DEM concept, demonstrates the dynamic and kinematic equivalence, and presents simulation results to illustrate the equivalence under open-loop and closed-loop control strategies.
ISSN:0022-0434
1528-9028
DOI:10.1115/1.2801316