TY - GEN
T1 - General underactuated cooperating manipulators in space manipulation
AU - Murat Yeşiloǧlu, S.
AU - Temeltaş, Hakan
PY - 2005
Y1 - 2005
N2 - This paper presents dynamical modeling of topologically stacked structure of general underactuated mechanisms. Underactuation may arise when a manipulator includes at least one passive joint which is either a free joint where torque propagating along the axis of rotation is only due to friction, or a flexible joint which has passive elements introducing stiffness and damping. In this regard, free flying platform can be considered as linked to a fixed base by six DOF free joints with no friction. Dynamics of underactuated cooperating manipulators become a bigger challenge when underactuation is encountered by the combination of free, flexible and active joints based on a free-flying platform in no-gravity setting. We call this class of systems as "general underactuated systems". This paper demonstrates the use of an order of N algorithm for the dynamical modeling of general underactuated manipulators cooperating to perform a common task on a free-flying space platform.
AB - This paper presents dynamical modeling of topologically stacked structure of general underactuated mechanisms. Underactuation may arise when a manipulator includes at least one passive joint which is either a free joint where torque propagating along the axis of rotation is only due to friction, or a flexible joint which has passive elements introducing stiffness and damping. In this regard, free flying platform can be considered as linked to a fixed base by six DOF free joints with no friction. Dynamics of underactuated cooperating manipulators become a bigger challenge when underactuation is encountered by the combination of free, flexible and active joints based on a free-flying platform in no-gravity setting. We call this class of systems as "general underactuated systems". This paper demonstrates the use of an order of N algorithm for the dynamical modeling of general underactuated manipulators cooperating to perform a common task on a free-flying space platform.
UR - http://www.scopus.com/inward/record.url?scp=33947529716&partnerID=8YFLogxK
U2 - 10.1109/RAST.2005.1512579
DO - 10.1109/RAST.2005.1512579
M3 - Conference contribution
AN - SCOPUS:33947529716
SN - 0780389778
SN - 9780780389779
T3 - RAST 2005 - Proceedings of 2nd International Conference on Recent Advances in Space Technologies
SP - 293
EP - 297
BT - RAST 2005 - Proceedings of 2nd International Conference on Recent Advances in Space Technologies
T2 - RAST 2005 - 2nd International Conference on Recent Advances in Space Technologies
Y2 - 9 June 2005 through 11 June 2005
ER -