By Topic

An improved algorithm of measuring extravehicular mobility unit (EMU) spacesuit joint damping parameters for the old passive robot system

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
$33 $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

4 Author(s)
Jingdong Zhao ; State Key Laboratory of Robotics and System (HIT), Harbin, 150001, China ; Yiwei Liu ; Hegao Cai ; Hong Liu

In this paper, an improved algorithm to measure Chinapsilas EMU spacesuit joint damping parameters for the old passive robot system is presented. The measuring principle is based on robot kinematics and dynamics. Firstly, a kinematic model of the passive robot and the EMU spacesuitpsilas arm is built according to the special mechanical structure. Secondly, improved methods of solving the inverse kinematics of the EMU spacesuit arm including flexible joints are proposed. And finally, a new algorithm that eliminates the gravity effect is implemented to calculate the damping torques of the EMU spacesuit joints. Experimental results and verification on SGI workstation proved the correctness and effectiveness of the proposed measuring method.

Published in:

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

22-26 Sept. 2008