Simulation Based Analysis of Kinematics, Dynamics and Control of Space Robots

The space robotics kinematics, dynamics and control were studied by simulation. An emerging concept in space robotics is the Virtual Manipulator (VM) concept. In this study, the VM concept was enhanced and verified through simulation. The mathematical software package MATHEMATICA was used to com...

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Main Author:	Sultana, Shafina
Format:	Thesis
Language:	English English
Published:	1996
Subjects:	Space robotics - Case studies
Online Access:	http://psasir.upm.edu.my/id/eprint/9978/1/FK_1996_3_A.pdf
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id	my-upm-ir.9978
record_format	uketd_dc
spelling	my-upm-ir.99782011-02-28T06:00:07Z Simulation Based Analysis of Kinematics, Dynamics and Control of Space Robots 1996-02 Sultana, Shafina The space robotics kinematics, dynamics and control were studied by simulation. An emerging concept in space robotics is the Virtual Manipulator (VM) concept. In this study, the VM concept was enhanced and verified through simulation. The mathematical software package MATHEMATICA was used to compute the formulations. In the kinematics simulation of free-floating space robotics systems the concept of VM was enhanced which relates to the homogeneous matrix formulation. This was established by simulation results, there are no external forces condition, the inverse kinematics solution can be solved. In the area of space robot dynamic identification, the method based on conservation law of linear and angular momentum of a space robot from the VM approach was introduced. It was shown that the acceleration of the Virtual Base (VB) was proportionally equal to the change of its position in inertial space from the applied forces or torques. The forces or torques rotates about the system center of mass. A PD control law was used with the simulation test to identify the dynamic parameters. In the problem of trajectory planning, the VM concept was utilized that allow the space robot translation and rotation with respect to an inertial reference frame. A method was developed that can compute the satellite platform moments from the manipulator's motion. The resolved motion rate control algorithm was used for time periodic feedback control. In the simulation results, a satellite-based three degrees of freedom robot was simulated using schematic illustrations. The telerobotic control system was used in the space robotics control. In the masterslave control environment study, several considerations were taken into account, like the master and slave arm configuration, telemonitoring force feedback algorithm, and dynamic characteristics of master and slave arm. In this study a complete and enhanced master-slave space robotics system was established by simulation. Space robotics - Case studies 1996-02 Thesis http://psasir.upm.edu.my/id/eprint/9978/ http://psasir.upm.edu.my/id/eprint/9978/1/FK_1996_3_A.pdf application/pdf en public masters Universiti Pertanian Malaysia Space robotics - Case studies Faculty of Engineering English
institution	Universiti Putra Malaysia
collection	PSAS Institutional Repository
language	English English
topic	Space robotics - Case studies
spellingShingle	Space robotics - Case studies Sultana, Shafina Simulation Based Analysis of Kinematics, Dynamics and Control of Space Robots
description	The space robotics kinematics, dynamics and control were studied by simulation. An emerging concept in space robotics is the Virtual Manipulator (VM) concept. In this study, the VM concept was enhanced and verified through simulation. The mathematical software package MATHEMATICA was used to compute the formulations. In the kinematics simulation of free-floating space robotics systems the concept of VM was enhanced which relates to the homogeneous matrix formulation. This was established by simulation results, there are no external forces condition, the inverse kinematics solution can be solved. In the area of space robot dynamic identification, the method based on conservation law of linear and angular momentum of a space robot from the VM approach was introduced. It was shown that the acceleration of the Virtual Base (VB) was proportionally equal to the change of its position in inertial space from the applied forces or torques. The forces or torques rotates about the system center of mass. A PD control law was used with the simulation test to identify the dynamic parameters. In the problem of trajectory planning, the VM concept was utilized that allow the space robot translation and rotation with respect to an inertial reference frame. A method was developed that can compute the satellite platform moments from the manipulator's motion. The resolved motion rate control algorithm was used for time periodic feedback control. In the simulation results, a satellite-based three degrees of freedom robot was simulated using schematic illustrations. The telerobotic control system was used in the space robotics control. In the masterslave control environment study, several considerations were taken into account, like the master and slave arm configuration, telemonitoring force feedback algorithm, and dynamic characteristics of master and slave arm. In this study a complete and enhanced master-slave space robotics system was established by simulation.
format	Thesis
qualification_level	Master's degree
author	Sultana, Shafina
author_facet	Sultana, Shafina
author_sort	Sultana, Shafina
title	Simulation Based Analysis of Kinematics, Dynamics and Control of Space Robots
title_short	Simulation Based Analysis of Kinematics, Dynamics and Control of Space Robots
title_full	Simulation Based Analysis of Kinematics, Dynamics and Control of Space Robots
title_fullStr	Simulation Based Analysis of Kinematics, Dynamics and Control of Space Robots
title_full_unstemmed	Simulation Based Analysis of Kinematics, Dynamics and Control of Space Robots
title_sort	simulation based analysis of kinematics, dynamics and control of space robots
granting_institution	Universiti Pertanian Malaysia
granting_department	Faculty of Engineering
publishDate	1996
url	http://psasir.upm.edu.my/id/eprint/9978/1/FK_1996_3_A.pdf
_version_	1747811037782999040

Simulation Based Analysis of Kinematics, Dynamics and Control of Space Robots

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