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Proceedings Paper

Manipulability analysis of a two-link space robot using differential geometry method
Author(s): Yanheng Zhang; Hanxu Sun; Qingxuan Jia; Jingzhou Song
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Paper Abstract

Space robot is a special robotic system which is expected to perform important tasks in space, like servicing satellites. But any motion of robotic manipulator will disturb its supporting vehicle in space due to the dynamic coupling. Moreover, the evaluating method of manipulability used on ground can not be directly applied to the space robot. A volume element concept is developed to evaluate the manipulability and disturbance of a space robot system. This paper shows the application of volume element method in two-link planar space robot. The volume element method is a new theoretical approach for the research and analysis of space robot system.

Paper Details

Date Published: 23 May 2011
PDF: 8 pages
Proc. SPIE 8044, Sensors and Systems for Space Applications IV, 80440U (23 May 2011); doi: 10.1117/12.883782
Show Author Affiliations
Yanheng Zhang, Beijing Univ. of Posts and Telecommunications (China)
Hanxu Sun, Beijing Univ. of Posts and Telecommunications (China)
Qingxuan Jia, Beijing Univ. of Posts and Telecommunications (China)
Jingzhou Song, Beijing Univ. of Posts and Telecommunications (China)


Published in SPIE Proceedings Vol. 8044:
Sensors and Systems for Space Applications IV
Khanh D. Pham; Henry Zmuda; Joseph Lee Cox; Greg J. Meyer, Editor(s)

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