In this paper are described the main kinematics issues of the TORVEastro robot, a new device proposed as service robot for the surveillance and the maintenance of the orbiting space stations. After a short description of its mechanical structure, the forward and the inverse kinematics of its arms are addressed and resolved for manipulation and locomotion tasks. Since the found solutions were implemented as functions for the robot control system software, the method used to test the correct implementation and the obtained results are presented in the conclusions of the paper; the same section also suggests possible applications of the formulated algorithm to the control of simultaneous and coordinated use of two arms.
Kinematics Equations for the Control System of the TORVEastro Robot
Paoloni M.;Santoro M.;Cupertino G.
2023-01-01
Abstract
In this paper are described the main kinematics issues of the TORVEastro robot, a new device proposed as service robot for the surveillance and the maintenance of the orbiting space stations. After a short description of its mechanical structure, the forward and the inverse kinematics of its arms are addressed and resolved for manipulation and locomotion tasks. Since the found solutions were implemented as functions for the robot control system software, the method used to test the correct implementation and the obtained results are presented in the conclusions of the paper; the same section also suggests possible applications of the formulated algorithm to the control of simultaneous and coordinated use of two arms.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
