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Mapping a Space Manipulator to a Dynamically Equivalent Manipulator

Authors :
Marcel Bergerman
Yangsheng Xu
Bin Liang
Source :
Journal of Dynamic Systems, Measurement, and Control. 120:1-7
Publication Year :
1998
Publisher :
ASME International, 1998.

Abstract

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.

Details

ISSN :
15289028 and 00220434
Volume :
120
Database :
OpenAIRE
Journal :
Journal of Dynamic Systems, Measurement, and Control
Accession number :
edsair.doi...........18f33e07683da395579dc953d44ebae7