On the Workspace of a Free-Floating Space Robot
| Autor: | V. V. Lapshin |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer Networks and Communications Computer science Motion (geometry) 02 engineering and technology Workspace 01 natural sciences Theoretical Computer Science Computer Science::Robotics 020901 industrial engineering & automation Planar Control theory Position (vector) 0101 mathematics business.industry Applied Mathematics 010102 general mathematics Robotics Terminal (electronics) Control and Systems Engineering Robot Computer Vision and Pattern Recognition Artificial intelligence Center of mass business Software Information Systems |
| Zdroj: | Journal of Computer and Systems Sciences International. 57:149-156 |
| ISSN: | 1555-6530 1064-2307 |
| DOI: | 10.1134/s1064230717050057 |
| Popis: | The planar problem of controlling the motion of a free-floating space robot is investigated. The robot consists of a body and a telescopic manipulator arm. The motion of the manipulator arm changes the body’s center of mass and causes the body to rotate. It is assumed that the length of the manipulator arm and the angle of its turn relative to the body are restricted. It is shown that the workspace of such a robot is significantly larger than the workspace of a robot with a fixed body. Due to the special motions of the manipulator arm, the robot’s body can be turned and the gripper can be moved from an arbitrary position to another arbitrary position if they are within the workspace, which is a ring centered at the robot’s center of mass. In addition, the prescribed angle between the manipulator arm and the body in the terminal position can be ensured. |
| Databáze: | OpenAIRE |
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