Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor

Kazuya Yoshida; Naoki Sashida; Ryo Kurazume; Yoji Umetani

Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor

Kazuya Yoshida, Naoki Sashida, Ryo Kurazume, Yoji Umetani

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The authors present a basic formulation of motion dynamics of a free-floating rigid-link system to establish a basis of the collision dynamics. They propose a novel concept named extended generalized inertia tensor (Ex-GIT), which is an extended version of the GIT for ground-based arms, and discuss the virtual mass concept. By means of these concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Publ by IEEE
Pages	899-904
Number of pages	6
ISBN (Print)	0818627204
Publication status	Published - Apr 1992
Externally published	Yes
Event	Proceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr Duration: May 12 1992 → May 14 1992

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1

Other

Other	Proceedings 1992 IEEE International Conference on Robotics and Automation
City	Nice, Fr
Period	5/12/92 → 5/14/92

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Cite this

Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor. / Yoshida, Kazuya; Sashida, Naoki; Kurazume, Ryo et al.
Proceedings - IEEE International Conference on Robotics and Automation. Publ by IEEE, 1992. p. 899-904 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yoshida, K, Sashida, N, Kurazume, R & Umetani, Y 1992, Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor. in Proceedings - IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 1, Publ by IEEE, pp. 899-904, Proceedings 1992 IEEE International Conference on Robotics and Automation, Nice, Fr, 5/12/92.

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author = "Kazuya Yoshida and Naoki Sashida and Ryo Kurazume and Yoji Umetani",

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BT - Proceedings - IEEE International Conference on Robotics and Automation

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T2 - Proceedings 1992 IEEE International Conference on Robotics and Automation

Y2 - 12 May 1992 through 14 May 1992

ER -

Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor

Abstract

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All Science Journal Classification (ASJC) codes

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