Hybrid simulation of a dual-arm space robot colliding with a floating object

Ryohei Takahashi; Hiroto Ise; Atsushi Konno; Masaru Uchiyama; Daisuke Sato

doi:10.1109/ROBOT.2008.4543367

Hybrid simulation of a dual-arm space robot colliding with a floating object

Ryohei Takahashi, Hiroto Ise, Atsushi Konno, Masaru Uchiyama, Daisuke Sato

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

41 Citations (Scopus)

Abstract

In order to verify orbital operations of a dual-arm space robot on the ground, a hybrid simulator (hardware in the loop simulator) is developed. The hybrid simulator includes a 14-degrees-of-freedom (14-DOF) dual-arm robot and 9-DOF motion table. A hybrid simulator has a great advantage in simulating complicated collision with multiple contacts, because it is difficult for a numerical simulation to get reliable and accurate results of such complicated phenomena. In this paper, the system architecture and the motion planning for three motion tables are presented. Two experiments are performed to confirm the basic motion and simulate a free-flying dual-arm space robot colliding with a floating object. The feasibility of robot operation is discussed from showing the position and force data obtained in the motion simulation.

Original language	English
Title of host publication	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages	1201-1206
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2008.4543367
Publication status	Published - 2008 Sept 18
Event	2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States Duration: 2008 May 19 → 2008 May 23

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/Territory	United States
City	Pasadena, CA
Period	08/5/19 → 08/5/23

Keywords

Dual-arm space robot
Hybrid simulation

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2008.4543367

Cite this

Hybrid simulation of a dual-arm space robot colliding with a floating object. / Takahashi, Ryohei; Ise, Hiroto; Konno, Atsushi et al.

2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 1201-1206 4543367 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Takahashi, R, Ise, H, Konno, A, Uchiyama, M & Sato, D 2008, Hybrid simulation of a dual-arm space robot colliding with a floating object. in 2008 IEEE International Conference on Robotics and Automation, ICRA 2008., 4543367, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1201-1206, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 08/5/19. https://doi.org/10.1109/ROBOT.2008.4543367

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Hybrid simulation of a dual-arm space robot colliding with a floating object

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Keywords

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