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Dexterous external space manipulation: serial or parallel concepts comparison

Alazard, Daniel and Chrétien, Jean-Pierre Dexterous external space manipulation: serial or parallel concepts comparison. (1994) In: 13th IFAC Symposium on Automatic Control in Aerospace, 12-16 Sep 1994, Palo Alto, USA .

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Abstract

Within the external space manipulation framework, we compare two concepts to achieve an accurate positioning of the manipulator end effector. The first one involves a serial mini-manipulator inserted between the external space manipulator (macro-manipulator) and the end effector. Then, an anchorage mechanism is required to provide a hold point to the macro / mini manipulators interface. This solution can be called: static positioning of the minimanipulator base. The anchorage system stiffness is then discussed. In the second concept,the mini-manipulator serial architecture is replaced by a light parallel architecture. The macro manipulator is then used to provide a dynamic positioning to the mini-manipulator base by the mean of a coordinated control scheme between both manipulators.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution: Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA
French research institutions > Centre National des Etudes Spatiales - CNES
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Deposited By:Daniel Alazard

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