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Method Research on Robot Arms Reachability Based on Dynamics Analysis

Abstract: To realize the quantitative analysis of reachability of on-orbit maintenance#br# technology, maintenance mission can be broken down by stratification first. Based on that,#br# maintenance mission can be proceeded of kinematic control. Remote-control command and#br# autonomic command are emulated through PID emulator, and are transformed into kinematic#br# performers? displacement locus curve. Then the ideal maintenance kinematic emulation locus can#br# be reached. After that, the model of the robot arm?s manufacture and control variations is built. At#br# last, the reliability and validity of maintenance emulation are increased by using virtual kinematic#br# controller to add the variations into the maintenance emulations.#br# Key words: dynamics analysis; robot arm; reachability; RecurDyn   

  • Online:2015-04-30 Published:2015-03-30

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Abstract: To realize the quantitative analysis of reachability of on-orbit maintenance
technology, maintenance mission can be broken down by stratification first. Based on that,
maintenance mission can be proceeded of kinematic control. Remote-control command and
autonomic command are emulated through PID emulator, and are transformed into kinematic
performers displacement locus curve. Then the ideal maintenance kinematic emulation locus can
be reached. After that, the model of the robot arms manufacture and control variations is built. At
last, the reliability and validity of maintenance emulation are increased by using virtual kinematic
controller to add the variations into the maintenance emulations.

Key words: dynamics analysis, robot arm, reachability, RecurDyn