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Preimpact configuration analysis of a dual-arm space manipulator with a prismatic joint for capturing an object

Published online by Cambridge University Press:  21 February 2013

Pei-Chao Cong  and
Xin Zhang
Pei-Chao Cong*
Affiliation:
College of Mechanical Engineering, Liaoning Technical University, Fuxin, China
Xin Zhang
Affiliation:
College of Mechanical Engineering, Liaoning Technical University, Fuxin, China College of Mechanical Engineering, Northeast Dianli University, Jilin, China
*
*Corresponding author. E-mail: cpclzx@163.com
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Summary

This paper presents the preimpact configuration of a dual-arm space manipulator with a prismatic joint for capturing an object based on the momentum conservation principle. A unique precapture configuration “generalized straight-arm capture” (GSAC) is proposed based on the dual-arm space manipulator with a prismatic joint and the corresponding angular relation is obtained. The configuration satisfies GSAC and can reduce the effect of system's angular momentum caused by the impact force during the capture operation and the burden of postimpact control, so it avoids the limitation of joint velocity and actuator torque when controlling the compound (a manipulator with a prismatic joint and an object) and guarantees the stability of the system. Finally, the effectiveness of the method is demonstrated by numerical simulations.

Keywords

Space manipulatorPrismatic jointGeneralized straight-arm captureAngular momentumBase attitude
Type
Articles
Information
Robotica , Volume 31 , Issue 6 , September 2013 , pp. 853 - 860
Copyright
Copyright © Cambridge University Press 2013 

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