Manipulability analysis of a two-link space robot using differential geometry method

Yanheng Zhang; Hanxu Sun; Qingxuan Jia; Jingzhou Song

doi:10.1117/12.883782

23 May 2011 Manipulability analysis of a two-link space robot using differential geometry method

Yanheng Zhang, Hanxu Sun, Qingxuan Jia, Jingzhou Song

Proceedings Volume 8044, Sensors and Systems for Space Applications IV; 80440U (2011) https://doi.org/10.1117/12.883782
Event: SPIE Defense, Security, and Sensing, 2011, Orlando, Florida, United States

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.

Citation Download Citation

Yanheng Zhang, Hanxu Sun, Qingxuan Jia, and Jingzhou Song "Manipulability analysis of a two-link space robot using differential geometry method", Proc. SPIE 8044, Sensors and Systems for Space Applications IV, 80440U (23 May 2011); https://doi.org/10.1117/12.883782

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