Paper Title:
Zero Internal Force Control for a Dual-Arm Space Robot
  Abstract

This paper discuses the zero internal force control of a dual-arm space robot installed on a free-flying spacecraft without base position and orientation control holding a single object. In order to save energy consumption, scheme with zero internal forces control, in which the disturbance to the base can be effectively decreased. The validity of this method is proved by computer simulations for a grasp system with a dual-arm space robot of three freedoms.

  Info
Periodical
Advanced Materials Research (Volumes 383-390)
Chapter
Chapter 30: Automation, Mechatronics and Robotics
Edited by
Wu Fan
Pages
7449-7454
DOI
10.4028/www.scientific.net/AMR.383-390.7449
Citation
H. C. Zhao, C. Q. Wang, "Zero Internal Force Control for a Dual-Arm Space Robot", Advanced Materials Research, Vols. 383-390, pp. 7449-7454, 2012
Online since
November 2011
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Price
$32.00
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