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Dynamic Modeling of Robots with Kinematic Loops

Ruf, Oliver (2014) Dynamic Modeling of Robots with Kinematic Loops. Master's. DLR-Interner Bericht. DLR-IB 572-2014/33, 86 S.

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Abstract

Closed kinematic loops occur in many different robotic systems. Simply grasping an object with two or more arms, generates a closed kinematic loop. Recently, ESA commissioned a feasibility study for the deorbiting of Europe's largest earth observing satellite { Envisat. It is expected that multiple arms are needed in order to grasp this satellite, which would generate a closed kinematic loop. The German Aerospace Center DLR would like to contribute to this feasibility study and simulate the deorbiting of Envisat. The SpaceDynamics Library, a simulation environment of the DLR, is however incapable to simulate robots with closed kinematic loops. The thesis discusses the dynamic modeling of robots with closed kinematic loops and shows the implementation and validation of an algorithm, in order to enable the dynamic modeling of closed loops with the SpaceDynamics Library.

Item URL in elib:https://elib.dlr.de/90278/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Dynamic Modeling of Robots with Kinematic Loops
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ruf, OliverOliverRuf (at) me.comUNSPECIFIED
Date:1 August 2014
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:86
Status:Published
Keywords:Dynamic Modeling, Kinematic Loops, Closed Loops, Space Robots
Institution:Aalto University
Department:School of Electrical Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Ruf, Oliver
Deposited On:26 Sep 2014 18:47
Last Modified:31 Jul 2019 19:47

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