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Autonomous target capturing is the key for space robot to perform on-orbital servicing tasks. To meet the requirement of complex and long-term task, large flexible appendages, such as solar paddles and antenna reflectors are usually mounted on the base of a space robot. Due to the structure vibration, it is very challenging to capture a free-floating target(More)
For a space robot with flexible appendages, the structure flexibilities will easily cause vibration during orbit and/or attitude maneuver of the base, and the operation of the manipulators. Hence, the pose (position and attitude) of the end-effector will deviate from the desired values largely. In this paper, we derive the rigid-flexible coupling dynamics(More)
In this article, we build dynamic models of 2D compliant links to evaluate injury level in a human-robot interaction. Safety is a premium concern for co-robotic systems. It has been studied that using compliant links in a robot can greatly reduce the injury level. Since most safety criteria are based on tolerance of acceleration of the operator's head(More)
A grinding robot is composed of six joints, within which the second joint is a prismatic joint and the others are rotational joints. According to its configuration characteristic, the 6DOF of the inverse kinematics problem was decomposed into two 3DOF sub-problems: the position inverse kinematics and the attitude inverse kinematics. Then the two(More)
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