Zero reaction maneuver: Flight validation with ETS-VII space robot and extension to kinematically redundant arm

K. Yoshida, K. Hashizume, Satoko Abiko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

149 Citations (Scopus)

Abstract

This paper presents the experimental results and post-flight analysis of Reaction Null-Space based reactionless manipulation, or Zero Reaction Maneuver (ZRM). The concept has been developed with an insight into the motion dynamics of free-flying mukibody systems and its practical availability is clearly demonstrated with ETS-VII, a Japanese space robot. The ZRM is proven particularly useful to remove the velocity limit of manipulation due to the reaction constraint and the time loss due to the waiting for the attitude recovery. The existence of the ZRM is very limited for a 6 DOF manipulator arm mounted on a free-flying base, but it is discussed that more operational freedom is obtained with a kinematically redundant arm.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages441-446
Number of pages6
Volume1
Publication statusPublished - 2001
Externally publishedYes
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 2001 May 212001 May 26

Other

Other2001IEEE International Conference on Robotics and Automation (ICRA)
CountryKorea, Republic of
CitySeoul
Period01/5/2101/5/26

Fingerprint

Manipulators
Availability
Robots
Recovery

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Yoshida, K., Hashizume, K., & Abiko, S. (2001). Zero reaction maneuver: Flight validation with ETS-VII space robot and extension to kinematically redundant arm. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 441-446)

Zero reaction maneuver : Flight validation with ETS-VII space robot and extension to kinematically redundant arm. / Yoshida, K.; Hashizume, K.; Abiko, Satoko.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2001. p. 441-446.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yoshida, K, Hashizume, K & Abiko, S 2001, Zero reaction maneuver: Flight validation with ETS-VII space robot and extension to kinematically redundant arm. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, pp. 441-446, 2001IEEE International Conference on Robotics and Automation (ICRA), Seoul, Korea, Republic of, 01/5/21.
Yoshida K, Hashizume K, Abiko S. Zero reaction maneuver: Flight validation with ETS-VII space robot and extension to kinematically redundant arm. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. 2001. p. 441-446
Yoshida, K. ; Hashizume, K. ; Abiko, Satoko. / Zero reaction maneuver : Flight validation with ETS-VII space robot and extension to kinematically redundant arm. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2001. pp. 441-446
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