Abstract
The objective of this paper is to study the problem of the robotic manipulator operating on a non-fixed base by considering two dynamics scenarios. One in which the base is free to react in response to the robotic manipulator motion andthe other in which the robotic manipulator moves its links in such a way to compensate the reaction forces on the platform so as to keep it stable. This approach is passive in the sense that no additional control effort has to be done to compensate the effects of the reaction forces on the platform. The methodology to approach the problem includes lab experiments aiming the dynamics analysis of a robotic manipulator operating on an ice platform on a glass table. The mathematical model of a satellite like a robotic manipulator is developed and then implemented in a computer by using the Matlab software environment. The results of the computer simulations confirm that the control effort for the attitude control is larger for the case in which the links are in operation compared to the case in which the robotic manipulator is not working. For the passive case, the results confirm the attitude stability of the robotic manipulator platform when it is working. The passive case is that in which the robotic manipulator links are moving in a synchronized configuration and in a reverse sense.
Highlights
It is discussed the robot on-orbit applications and some basic concepts regarding excitation of robotic platform in response to on-board robot activities as well as the concepts of robot and telerobot
This study deals with the dynamics analysis of on-orbit robotic manipulator operations by considering the manipulator mounted on a non-fixed base
An experiment at the Space Robotics Laboratory (SRL) laboratory (Divisão de Mecânica Aeronáutica, Instituto Tecnológico de Aeronáutica) was conducted to analyze the dynamics of a robotic manipulator assembled on an ice platform aiming the analysis of the ice platform response to the motion of the robotic manipulator arms
Summary
It is discussed the robot on-orbit applications and some basic concepts regarding excitation of robotic platform in response to on-board robot activities as well as the concepts of robot and telerobot. 1.Instituto Tecnológico de Aeronáutica – Departamento de Mecatrônica – Divisão de Mecânica Aeronáutica – São José dos Campos/SP – Brazil. Depending on the work to be executed, the spacecraft becomes the robotic manipulator base and it may move in response to the manipulator links motion while it performs tasks In such scenario the attitude and the translational motion of the spacecraft may be disturbed, requiring attitude and orbit control. It is necessary to have an on-board control subsystem to control the excitation on the platform due to reaction torque and force arising from the robot activities Such control may be attitude control and/or orbit control so as to maintain the spacecraft stable while the robotic manipulator operates. The idea is to eliminate the reaction torque on the robotic platform and reduce the control effort to make the spacecraft stable during the manipulator activity
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