Design and configuration control of space robots undergoing impact

Papadopoulos, E; Paraskevas, I

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Paraskevas, I	en
dc.date.accessioned	2014-03-01T02:50:20Z
dc.date.available	2014-03-01T02:50:20Z
dc.date.issued	2006	en
dc.identifier.issn	03796566	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35064
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-33646581330&partnerID=40&md5=805de867de955bfa6bd9fdfa68b76fc7	en
dc.subject.other	Computer simulation	en
dc.subject.other	Manipulators	en
dc.subject.other	Motion planning	en
dc.subject.other	Navigation systems	en
dc.subject.other	Space research	en
dc.subject.other	Disturbance forces	en
dc.subject.other	Percussion point	en
dc.subject.other	Robot manipulators	en
dc.subject.other	Space robots	en
dc.subject.other	Robotics	en
dc.title	Design and configuration control of space robots undergoing impact	en
heal.type	conferenceItem	en
heal.publicationDate	2006	en
heal.abstract	The necessity of robot manipulators in space is a one-way reality. The aim of this research work is to produce guidelines for grasping objects on orbit with the use of a space manipulator, such that manipulator reaction forces are minimized and therefore minimum disturbance forces are transmitted to its base. Impact reaction forces appear during the contact of two bodies. A methodology that uses the property of the percussion point of bodies that can rotate around a fixed axis is presented. The equations that describe the percussion point are developed. These functions are studied in depth to predict the best configuration of a manipulator during impact. A number of simulations are executed in order to examine the validity of these predictions, and guidelines suggesting optimal approach configurations are proposed.	en
heal.journalName	European Space Agency, (Special Publication) ESA SP	en
dc.identifier.issue	606	en
dc.identifier.spage	35	en
dc.identifier.epage	44	en