TY - GEN
T1 - Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor
AU - Yoshida, Kazuya
AU - Sashida, Naoki
AU - Kurazume, Ryo
AU - Umetani, Yoji
PY - 1992/4
Y1 - 1992/4
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0026846021&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0026846021&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0026846021
SN - 0818627204
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 899
EP - 904
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings 1992 IEEE International Conference on Robotics and Automation
Y2 - 12 May 1992 through 14 May 1992
ER -