Cart (Loading....) | Create Account
Close category search window
 

Analysis of active manipulator elements in space manipulation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Murphy, S.H. ; FANUC Robotics North America, Auburn Hills, MI, USA ; Ting-Yung Wen, J.

The effects of spinning motors on the motion of robot manipulators on a mobile space platform are evaluated. The complete dynamics of a geared manipulator on a space platform, which includes the dynamic coupling from motor to link and the gyroscopic forces from the spinning motors, is derived. The complete dynamic model is compared to a model using the common approximation to geared manipulators. The results show that the effect of gyroscopic forces is negligible from the viewpoint of robot control but significant from the viewpoint of platform control. The motor gyroscopic forces result in significant changes in platform orientation and manipulator tip position that are not accounted for in current models of robot manipulation in space. The changes in platform orientation and manipulator tip position are independent of the speed of the motion

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:9 ,  Issue: 5 )

Date of Publication:

Oct 1993

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.