TY - GEN
T1 - Computational efficient algorithms for operational space formulation of branching arms on a space robot
AU - Abiko, Satoko
AU - Hirzinger, Gerd
PY - 2008/12/1
Y1 - 2008/12/1
N2 - This paper presents efficient computational algorithms of operational space dynamics for free-flying and for free-floating space robots. Due to the lack of the fixed base, the operational space formulation of the space robot is more complex than the fixed base robot system. By paying attention to this unique characteristic, however, the novel algorithm of the operational space dynamics for a single-serial-arm space robot is derived. Furthermore, by using the concept of the articulated-body system, recursive computation algorithms of the operational space formulation for a branching-arms on the space robot is developed. The realistic dynamic simulations are illustrated to verify the computational efficiency.
AB - This paper presents efficient computational algorithms of operational space dynamics for free-flying and for free-floating space robots. Due to the lack of the fixed base, the operational space formulation of the space robot is more complex than the fixed base robot system. By paying attention to this unique characteristic, however, the novel algorithm of the operational space dynamics for a single-serial-arm space robot is derived. Furthermore, by using the concept of the articulated-body system, recursive computation algorithms of the operational space formulation for a branching-arms on the space robot is developed. The realistic dynamic simulations are illustrated to verify the computational efficiency.
UR - http://www.scopus.com/inward/record.url?scp=69549103738&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549103738&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4651048
DO - 10.1109/IROS.2008.4651048
M3 - Conference contribution
AN - SCOPUS:69549103738
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 3312
EP - 3317
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -