Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor

Kazuya Yoshida; Naoki Sashida; Ryo Kurazume; Yoji Umetani

Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor

Kazuya Yoshida, Naoki Sashida, Ryo Kurazume, Yoji Umetani

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The authors present a basic formulation of motion dynamics of a free-floating rigid-link system to establish a basis of the collision dynamics. They propose a novel concept named extended generalized inertia tensor (Ex-GIT), which is an extended version of the GIT for ground-based arms, and discuss the virtual mass concept. By means of these concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Publ by IEEE
Pages	899-904
Number of pages	6
Volume	1
ISBN (Print)	0818627204
Publication status	Published - Apr 1992
Externally published	Yes
Event	Proceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr Duration: May 12 1992 → May 14 1992

Other

Other	Proceedings 1992 IEEE International Conference on Robotics and Automation
City	Nice, Fr
Period	5/12/92 → 5/14/92

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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title = "Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor",

abstract = "The authors present a basic formulation of motion dynamics of a free-floating rigid-link system to establish a basis of the collision dynamics. They propose a novel concept named extended generalized inertia tensor (Ex-GIT), which is an extended version of the GIT for ground-based arms, and discuss the virtual mass concept. By means of these concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law.",

author = "Kazuya Yoshida and Naoki Sashida and Ryo Kurazume and Yoji Umetani",

year = "1992",

month = apr,

language = "English",

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note = "Proceedings 1992 IEEE International Conference on Robotics and Automation ; Conference date: 12-05-1992 Through 14-05-1992",

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AU - Yoshida, Kazuya

AU - Sashida, Naoki

AU - Kurazume, Ryo

AU - Umetani, Yoji

PY - 1992/4

Y1 - 1992/4

N2 - The authors present a basic formulation of motion dynamics of a free-floating rigid-link system to establish a basis of the collision dynamics. They propose a novel concept named extended generalized inertia tensor (Ex-GIT), which is an extended version of the GIT for ground-based arms, and discuss the virtual mass concept. By means of these concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law.

AB - The authors present a basic formulation of motion dynamics of a free-floating rigid-link system to establish a basis of the collision dynamics. They propose a novel concept named extended generalized inertia tensor (Ex-GIT), which is an extended version of the GIT for ground-based arms, and discuss the virtual mass concept. By means of these concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law.

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M3 - Conference contribution

AN - SCOPUS:0026846021

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SP - 899

EP - 904

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Publ by IEEE

T2 - Proceedings 1992 IEEE International Conference on Robotics and Automation

Y2 - 12 May 1992 through 14 May 1992

ER -