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Proceedings Paper

Grasping rigid objects in zero-g
Author(s): Greg D. Anderson
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Paper Abstract

The extra vehicular activity helper/retriever (EVAHR) is a prototype for an autonomous free- flying robotic astronaut helper. The ability to grasp a moving object is a fundamental skill required for any autonomous free-flyer. This paper discusses an algorithm that couples resolved acceleration control with potential field based obstacle avoidance to enable a manipulator to track and capture a rigid object in (imperfect) zero-g while avoiding joint limits, singular configurations, and unintentional impacts between the manipulator and the environment.

Paper Details

Date Published: 21 December 1993
PDF: 12 pages
Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164915
Show Author Affiliations
Greg D. Anderson, Lockheed Engineering and Sciences Co. (United States)

Published in SPIE Proceedings Vol. 2057:
Telemanipulator Technology and Space Telerobotics
Won Soo Kim, Editor(s)

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