The dynamic interaction between a space robotic manipulator and its base can make its control difficult. Control and planning algorithms have been proposed to compensate for this dynamic interaction. A laboratory test bed is described which was developed and built to emulate the dynamic behavior of space robotic systems and investigate proposed algorithms. Experimental results are presented which demonstrate the effectiveness of this test bed in studying the dynamic coupling between a space manipulator and its spacecraft.
|Original language||English (US)|
|Title of host publication||23rd Biennial Mechanisms Conference|
|Subtitle of host publication||Robotics - Kinematics, Dynamics and Controls|
|Publisher||American Society of Mechanical Engineers (ASME)|
|Number of pages||10|
|State||Published - 1994|
|Event||ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium - Minneapolis, United States|
Duration: Sep 11 1994 → Sep 14 1994
|Name||Proceedings of the ASME Design Engineering Technical Conference|
|Conference||ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium|
|Period||9/11/94 → 9/14/94|
Bibliographical noteFunding Information:
The support of this work by NASA (Langley Research Center, Automation Branch) under Grant NAG-1-801 is acknowledged. Also acknowledged are the contributions to this project of the following MIT faculty members and students; J. Baker, T. Corrigan, P. Foote, Y. Gong, D. Goodrum, H. Idris, H. West, and P. Zackin.
© 1994 American Society of Mechanical Engineers (ASME). All rights reserved.