Design and control of a 7-degree-of-freedom symmetric manipulator module for in-orbit operations

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dc.contributor.authorCotrina de los Mozos, Irene
dc.contributor.authorTang, Gilbert
dc.date.accessioned2024-02-28T10:19:34Z
dc.date.available2024-02-28T10:19:34Z
dc.date.issued2024-01-01
dc.description.abstractThis paper proposes a modular redesign of multi-armed robotic systems with application to in-orbit operations. The manipulators that the robot includes are made independent and the connection to the central body is achieved through additional standard interfaces (SI). This grants the system the ability to self-repair through self-reconfiguration. The arms are also upgraded, giving rise to symmetrical manipulators of 7 degrees of freedom (DOF) capable of locomoting by themselves. The models of the new manipulator design are presented along with its nominal workspace. In addition to this, a novel algorithm for the control of the arm is developed based on the F ABRIK approach. This programme is tested using diverse target poses as input and the consequent results are shown too. All the models and sketches were created in SolidWorks; the algorithm was coded in MATLAB.en_UK
dc.identifier.citationde los Mozos IC, Tang G. (2024) Design and control of a 7-degree-of-freedom symmetric manipulator module for in-orbit operations. In: 2023 11th International Conference on Control, Mechatronics and Automation (ICCMA), 1-3 November 2023, Grimstad, Norway, pp. 284-289en_UK
dc.identifier.eisbn979-8-3503-1568-4
dc.identifier.eissn2837-5149
dc.identifier.isbn979-8-3503-1569-1
dc.identifier.issn2837-5114
dc.identifier.urihttps://doi.org/10.1109/ICCMA59762.2023.10374943
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/20894
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectmodular designen_UK
dc.subjectself-reconfigurationen_UK
dc.subjectF ABRIKen_UK
dc.subjectinverse kinematicsen_UK
dc.subjectcontrol algorithmen_UK
dc.subjectSolidWorksen_UK
dc.subjectMATLABen_UK
dc.titleDesign and control of a 7-degree-of-freedom symmetric manipulator module for in-orbit operationsen_UK
dc.typeConference paperen_UK

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