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 September 1994 - 16 September 1994 (Palo Alto, United States).
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(Document in English)
PDF (Author's version) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader 284kB |
Official URL: http://www.ifac-control.org/
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) |
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Audience (conference): | International conference proceedings |
Uncontrolled Keywords: | |
Institution: | Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE) French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE) French research institutions > Centre National d'Études Spatiales - CNES (FRANCE) |
Laboratory name: | Département de Mathématiques, Informatique, Automatique - DMIA (Toulouse, France) - Automatique, Dynamique et Interface des Systèmes - ADIS Département Commande des Systèmes et Dynamique du vol - DCSD (Toulouse, France) |
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Deposited On: | 23 Jan 2009 08:39 |
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