Momentum limiting velocity controls for robotic manipulatorsRobotic tasks in space require manipulating massive objects capable of attaining large momentum. The momentum can pose hazardous conditions and introduce destabilizing effects on a space platform. Consequently, a technique for limiting the momentum applied to objects under manipulation subject to arbitrary velocity input commands is proposed. The algorithm does not require mass position or inertia information about the object, and it takes actuator limitations into account in forming the momentum limits. To evaluate the probability that a velocity trajectory will fall within the momentum bounds, reliability theory is employed. This enables autonomously generated trajectories to be validated for compliance with momentum limits.
Document ID
19910050636
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Mcinroy, John E. (Rensselaer Polytechnic Inst. Troy, NY, United States)
Saridis, George N. (NASA Center for Intelligent Robotic Systems for Space Exploration; Rensselaer Polytechnic Institute, Troy, NY, United States)
Bryan, Tom (NASA Marshall Space Flight Center Huntsville, AL, United States)