Preimpact Configuration Analysis of Dual-Arm Space Manipulator Capturing Object
Publication: Journal of Aerospace Engineering
Volume 23, Issue 2
Abstract
Based on momentum conservation principle of space manipulator, this paper presents precapture configuration of space manipulator capturing object. Two unique precapture configurations, “straight-arm capture” (SAC) and “generalized straight-arm capture” (GSAC), were proposed based on the single-arm system; then GSAC was extended to the dual-arm system and the corresponding angular relation was obtained. This configuration satisfies GSAC and can reduce the coupling angular momentum during capture operation and the burden of postimpact control. This avoids the limitation of joint velocity when controlling the compound (manipulator and object) and guarantees the stability of system. The simulation results show the effectiveness of this method.
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Information & Authors
Information
Published In
Journal of Aerospace Engineering
Volume 23 • Issue 2 • April 2010
Pages: 117 - 123
Copyright
© 2010 ASCE.
History
Received: Oct 16, 2008
Accepted: May 6, 2009
Published online: May 8, 2009
Published in print: Apr 2010
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