Grasping rigid objects in zero-g

Greg D. Anderson

doi:10.1117/12.164915

21 December 1993 Grasping rigid objects in zero-g

Greg D. Anderson

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164915
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

The extra vehicular activity helper/retriever (EVAHR) is a prototype for an autonomous free- flying robotic astronaut helper. The ability to grasp a moving object is a fundamental skill required for any autonomous free-flyer. This paper discusses an algorithm that couples resolved acceleration control with potential field based obstacle avoidance to enable a manipulator to track and capture a rigid object in (imperfect) zero-g while avoiding joint limits, singular configurations, and unintentional impacts between the manipulator and the environment.

Citation Download Citation

Greg D. Anderson "Grasping rigid objects in zero-g", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164915

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available