Chapter
Apr 26, 2012
Berthing Manipulation by a Space Robotic Arm with Consideration of Joint Flexibility
Authors: Takuya Kanzawa, Saburo Matunaga, and Yohsuke FukushimaAuthor Affiliations
Publication: Robotics 2000
Abstract
In this paper, the vibration of a space robotic arm with joint flexibility is discussed. Considering manipulability of the robotic arm, the berthing manipulation may cause flexible vibration due to joint elasticity. Since the natural frequency of the robotic arm changes according to its configuration changes, there is a possibility of resonance between the arm vibration and the flexible paddle vibration, and the disturbances caused by the arm vibration have influence on the satellite attitude. The authors evaluate the arm vibration during the berthing manipulations through both the data analyses of berthing experiments and the simulations.
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Copyright
© 2000 American Society of Civil Engineers.
History
Published online: Apr 26, 2012
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ASCE Technical Topics:
- Aerospace engineering
- Automation and robotics
- Continuum mechanics
- Data analysis
- Dynamics (solid mechanics)
- Elastic analysis
- Engineering fundamentals
- Engineering mechanics
- Joints
- Methodology (by type)
- Motion (dynamics)
- Natural frequency
- Oscillations
- Research methods (by type)
- Resonance
- Satellites
- Solid mechanics
- Space exploration
- Structural analysis
- Structural engineering
- Structural members
- Structural systems
- Systems engineering
- Vibration
Authors
Affiliations
Takuya Kanzawa
Graduate student, Mechano-Aerospace Engineering, Tokyo Institute of Technology 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, JAPAN
Saburo Matunaga
Associate Professor, Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, JAPAN
Yohsuke Fukushima
Researcher, National Space Development Agency of Japan, 2-1-1 Sengen, Tukuba-shi, Ibaragi 305-8505, JAPAN
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