Simulation Based Analysis of Kinematics, Dynamics and Control of Space Robots
The space robotics kinematics, dynamics and control were studied by simulation. An emerging concept in space robotics is the Virtual Manipulator (VM) concept. In this study, the VM concept was enhanced and verified through simulation. The mathematical software package MATHEMATICA was used to com...
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| Format: | Thesis |
| Language: | English English |
| Published: |
1996
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| Online Access: | http://psasir.upm.edu.my/id/eprint/9978/1/FK_1996_3_A.pdf http://psasir.upm.edu.my/id/eprint/9978/ |
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| Summary: | The space robotics kinematics, dynamics and control were studied by
simulation. An emerging concept in space robotics is the Virtual Manipulator
(VM) concept. In this study, the VM concept was enhanced and verified through
simulation. The mathematical software package MATHEMATICA was used to
compute the formulations. In the kinematics simulation of free-floating space
robotics systems the concept of VM was enhanced which relates to the
homogeneous matrix formulation. This was established by simulation results, there
are no external forces condition, the inverse kinematics solution can be solved. In
the area of space robot dynamic identification, the method based on conservation law of linear and angular momentum of a space robot from the VM approach was
introduced. It was shown that the acceleration of the Virtual Base (VB) was
proportionally equal to the change of its position in inertial space from the applied
forces or torques. The forces or torques rotates about the system center of mass. A
PD control law was used with the simulation test to identify the dynamic
parameters. In the problem of trajectory planning, the VM concept was utilized that
allow the space robot translation and rotation with respect to an inertial reference
frame. A method was developed that can compute the satellite platform moments
from the manipulator's motion. The resolved motion rate control algorithm was
used for time periodic feedback control. In the simulation results, a satellite-based
three degrees of freedom robot was simulated using schematic illustrations. The
telerobotic control system was used in the space robotics control. In the masterslave
control environment study, several considerations were taken into account,
like the master and slave arm configuration, telemonitoring force feedback
algorithm, and dynamic characteristics of master and slave arm. In this study a
complete and enhanced master-slave space robotics system was established by
simulation. |
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