标题：Modeling and Estimation of Closed-Loop Impact for Multi-arm Space Robot While Capturing a Tumbling Orbiting Object
参考译名：多臂空间机器人捕捉旋转轨道物体时闭环碰撞的建模与估计
简介：In this paper, an attempt has been made to develop a framework for closedloop impact modeling of a multi-arm robotic system mounted on a servicing satellite while capturing a tumbling orbiting object. When the satellite is in broken state or does not have provision for grapple and tumbling, the interception is very difficult. In such cases, interception using multi-arm robotic system can be appealing as this will certainly increase the probability of grasp in comparison to a single-arm robot. When multiple arms of a robot will capture only one target object from different points of contact, then it is termed as closed-loop impact. In this paper, first, the dynamic models of a multi-arm robot and a tumbling orbiting object are obtained. The target dynamics has been modeled considering it to be a rigid body. Then, the three phases of the capturing operation, namely, approach, impact, and postimpact have been modeled. Efficacy of the framework is shown using a dual-arm robot mounted on a servicing satellite performing capturing operation when both arms of robot capture a single target object. The effects of relative velocity and angle of approach on the impact forces would also be investigated.
来源：机构：Mechanical Engineering Department, Indian Institute of Technology Jodhpur
出处：《Machines, Mechanism and Robotics: Proceedings of iNaCoMM 2017》 年：2019 561～570 总页数：10 会议：International Conference on Machines and Mechanisms 举办地：Mumbai 日期：2017-12-13 届次：3rd 语种：英语 分类号：TP24-53 ISBN：9789811085963
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