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 proceedingConference contribution

59 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages899-904
Number of pages6
Volume1
ISBN (Print)0818627204
Publication statusPublished - Apr 1992
Externally publishedYes
EventProceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: May 12 1992May 14 1992

Other

OtherProceedings 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period5/12/925/14/92

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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