Computational efficient algorithms for operational space formulation of branching arms on a space robot

Satoko Abiko, Gerd Hirzinger

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ3312-3317
ページ数6
DOI
出版ステータスPublished - 2008 12 1
外部発表はい
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
継続期間: 2008 9 222008 9 26

出版物シリーズ

名前2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
国/地域France
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御およびシステム工学
  • 電子工学および電気工学

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