Abstract
An experimental validation of the Extended Operational Space Formulation for a two-arm, free-flying space robot is presented. Following a brief summary of the formulation and a quantitative description of the robot's macro-mini characteristics, the concepts of macro-mini coordination for a multi-arm system, Dynamically Consistent Force/Torque Decomposition for redundant manipulator control, and Internal Motion Control are demonstrated experimentally. The impact of actuator discretization at the robot base on the accuracy and dynamic decoupling of the robot is analyzed and discussed.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
M. A. Ullman. Experiments in Autonomous Navigation and Control of Multi-Manipulator, Free-Flying Space Robots, PhD thesis, Stanford University, Stanford, CA 94305, March 1993.
R. Koningstein, M. Ullman, and R. Cannon. Computed torque control of a free-flying cooperating-arm robot. In Proc. of the NASA Conf on Space Telerobotics, pages 235–243, Pasadena CA, January 1989.
E. Papadopoulos and S. Dubowsky. Coordinated manipulator/spacecraft motion control for space robotic systems. In Proc. of the IEEE Intl Conf on Rob and Autom, pages 1696–1701, Sacramento CA, April 1991.
K. Yoshida R. Kurazume and Y. Umetani. Dual arm coordination in space free-flying robot. In Proc. of the IEEE Intl Conf on Rob and Autom, pages 2516–2521, Sacramento CA, April 1991.
J. Russakow O. Khatib and S. Rock. The extended operational space formulation for serial-to-parallel (branching) manipulators. In Proc. of the IEEE Intl Conf on Rob and Autom, Nagoya JP, May 1995.
O. Khatib. Object manipulation in a multi-effector robot system. In B. Bolles and B. Roth, editors, The Intl Symp of Rob Res, pages 137–144, Santa Cruz CA, August 1987. MIT Press.
D. Williams and O. Khatib. The virtual linkage: A model for internal forces in multigrasp manipulation. In Proc. of the IEEE Intl Conf on Rob and Autom, pages 1025–1031, Atlanta GA, 1993.
O. Khatib. Reduced effective inertia in macro-/mini-manipultor systems. In H. Miura and S. Arimoto, editors, Robotics Research 5, pages 279–284, Cambridge, 1990. MIT Press.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1997 Springer-Verlag London Limited
About this paper
Cite this paper
Russakow, J., Rock, S.M., Khatib, O. (1997). An operational space formulation for a free-flying, multi-arm space robot. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035234
Download citation
DOI: https://doi.org/10.1007/BFb0035234
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76133-4
Online ISBN: 978-3-540-40942-7
eBook Packages: Springer Book Archive