Dynamics and control of multibody/robotic systems with space applications; Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, Dec. 10-15, 1989The present conference on the dynamics and control methods of multibody robotic systems applicable to outer space applications first gives attention to such topics in multibody dynamics and control as the substructure synthesis approach to flexible multibody system control, an elastic finite-element kinematic analysis of a multirigid body, computational methods for high speed vehicles on flexible guideways, and multiarm coordination and control. Attention is then given to such issues in space manipulator dynamics and control methods as the global navigation of a free-flying space robot, dynamic singularities in the control of free-floating space manipulators, experimental results for compact space robot actuator control, and a 17-degree-of-freedom dexterous manipulator.
Document ID
19910054120
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Joshi, Suresh M. (NASA Langley Research Center Hampton, VA, United States)
Silverberg, Larry (North Carolina State University Raleigh, United States)
Alberts, Thomas E. (Old Dominion University Norfolk, VA, United States)