This paper presents a discussion on impact dynamics analysis when a free-floating space robot has impact with infinite small time period by the contact or capturing of a target. The concept of reaction null-space is introduced and applied to estimate and minimize the impulsive reaction force or attitude disturbance at the base of a space robot. The possibility to simultaneously optimize the impact impulse at the hand and reaction impulse at the base is highlighted.
|Number of pages
|Proceedings - IEEE International Conference on Robotics and Automation
|Published - 1995
|Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 21 → 1995 May 27