|Address||Kaiwu Bldg. of Mechanical Engineering, Tongji Univ.,
No. 4800 Cao An Rd., Shanghai 201804, P. R. China
- Space Manipulator
Space manipulators (SM) are often made of light-weight materials and long thin rods, electric motor with miniwatt which is cooperated with relatively huge retarder is applied so that it can save more energy. All of the factors above lead to the flexibility that cannot be ignore. Besides, due to non-gravity environment of space, the free-floating of manipulators' base should also be taken into consideration.
In this project, we are working on the modeling and simulation of space manipulator. We utilized Robotics Toolbox to model the free-floating manipulators, with Dynamically Equivalent (DEM) Approach. Currently we are working on the modeling of flexible elements in SM and its control algorithms.
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