Abstract

The dynamic interaction between a space robotic manipulator and its base can make its control difficult. Control and planning algorithms have been proposed to compensate for this dynamic interaction. A laboratory test bed is described which was developed and built to emulate the dynamic behavior of space robotic systems and investigate proposed algorithms. Experimental results are presented which demonstrate the effectiveness of this test bed in studying the dynamic coupling between a space manipulator and its spacecraft.

Volume Subject Area:
23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls
Topics:
Design, Robotics, Algorithms, Manipulators, Space vehicles
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Copyright © 1994 by The American Society of Mechanical Engineers
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