2015
IMAACA 2015 Proceeding
Obstacle avoiding strategy of a reconfigurable redundant space robot
Authors: Vijay Kumar Dalla, Pushparaj Mani Pathak
Abstract
This paper presents a strategy for collision-free robot tip trajectory in space works. Obstacles present in the workspace may collide with a space robotic system engaged in on-orbital servicing missions. The resultant collision may damage to the manipulator which ultimately leads to the space mission failure. When a space robot needs to perform in a limited volume with obstacles present, the robot must possess some unique capability to reach around obstacles during maneuvering. The redundant robot can perform various tasks in a limited workspace with obstacles. Hence, for this, a 6DOF space robot has been proposed for manipulation in the workspace with two static obstacles. Collision avoidance is based on reconfiguration approach where the joints are made active/passive to facilitate collision-free tip trajectory. Before reconfiguration, collision detection has been proposed to be done. The bond graph technique has been used for the dynamic model of the system and to formulate system equations.
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