Analysis and Optimization of Motion Coupling for the Coordinated Operation of Flexible Multi-Arm Space Robots

Analysis and Optimization of Motion Coupling for the Coordinated Operation of Flexible Multi-Arm Space Robots

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This paper presents a novel approach for analyzing and optimizing motion coupling in the coordinated operation tasks of flexible space multi-arm robots (FMSRs). The method integrates motion coupling between multiple arms and system stiffness to improve the motion and force accuracy of FMSRs by optim...

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Bibliographic Details
Main Authors: Guangtang Pan, Qingxuan Jia, Gang Chen, Yifan Wang, Fenglei Sun
Format: Article
Language:English
Published: MDPI AG 2023-05-01
Series:Actuators
Subjects:
flexible manipulators
multi-arm robots
motion coupling
equivalent stiffness
trajectory optimization
Online Access:https://www.mdpi.com/2076-0825/12/5/198

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