Abstract
The dynamic interaction between a space robotic manipulator and its base in micro-gravity can make it difficult to control and lead to system performance degredation. Control and planning algorithms proposed in the past to compensate for this dynamic interaction have lacked sufficient experimental evaluation. A laboratory test bed is described which was developed and built to emulate the dynamic behavior of space robotic systems and investigate proposed planning and control algorithms. Two methods for removing the effects of gravity in the laboratory are presented. Experimental results demonstrate the effectiveness of this test bed in studying the dynamic coupling between a space manipulator and its spacecraft.
Original language | English (US) |
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Title of host publication | IEEE/RSJ/GI International Conference on Intelligent Robots and Systems |
Publisher | IEEE |
Pages | 1562-1569 |
Number of pages | 8 |
Volume | 3 |
State | Published - Dec 1 1994 |
Event | Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger Duration: Sep 12 1994 → Sep 16 1994 |
Other
Other | Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) |
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City | Munich, Ger |
Period | 9/12/94 → 9/16/94 |