0
TECHNICAL PAPERS

Inverse Kinematics of an Untethered Rigid Body Undergoing a Sequence of Forward and Reverse Rotations

[+] Author and Article Information
Sung K. Koh, G. K. Ananthasuresh

Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104e-mail: {skkoh,gksuresh}@seas.upenn.edu

J. Mech. Des 126(5), 813-821 (Oct 28, 2004) (9 pages) doi:10.1115/1.1767185 History: Received June 01, 2003; Revised January 01, 2004; Online October 28, 2004
Copyright © 2004 by ASME
Topics: Kinematics , Rotation
Your Session has timed out. Please sign back in to continue.

References

Agrawal,  S. K., Chen,  M. Y., and Annapragada,  M., 1996, “Modeling and Simulation of Assembly in a Free-Floating Work Environment by a Free-Floating Robot,” ASME J. Mech. Des., 118(1), pp. 115–120.
Fleeter, R., 1995, Micro Spacecraft, The Edge City Press, Reston, VA.
Reiter, J., Böhringer, K., and Campbell, M., 1999, “MEMS Control Moment Gyroscope Design and Wafer-Based Spacecraft Chassis Study,” SPIE Symposium on Micromachining and Microfabrication, Santa Clara, CA, September, 1999.
Li, J., Koh, S. K., Ananthasuresh, G. K., Ayyaswamy, P. S., and Ananthakrishnan, S., 2001, “A Novel Attitude Control Technique for Miniature Spacecraft,” MEMS Symposium, Vol. 1 CD-ROM Proceedings of 2001 ASME International Mechanical Engineering Conference and Exposition, November 11–16, 2001, New York.
Kovacs, G., 1998, Micromachined Transducers, WCB-McGraw-Hill, New York.
Moulton,  T., and Ananthasuresh,  G. K., 2001, “Design and Manufacture of Electro-Thermal-Compliant Micro Devices,” Sens. Actuators, A, 90, pp. 38–48.
Koh,  S. K., Ostrowski,  J. P., and Ananthasuresh,  G. K., 2002, “Control of Micro-Satellite Orientation Using Bounded-Input, Fully-Reversed MEMS Actuators,” Int. J. Robot. Res., 21(5–6), pp. 591–605.
Koh,  S. K., Ananthasuresh,  G. K., and Croke,  C., 2003, “Analysis of Fully Reversed Sequences of a Free Rigid Body,” ASME J. Mech. Des., in press.
Murray, R. M., Li, Z., and Sastry, S. S., 1994, A Mathematical Introduction to Robotic Manipulation, CRC Press, Boca Raton, FL.
Zefran,  M., and Kumar,  V., 2002, “Geometrical Approach to the Study of the Cartesian Stiffness Matrix,” ASME J. Mech. Des., 124, pp. 30–38.
Svanberg,  K., 1987, “The Method of Moving Asymptotes—A New Method for Structural Optimization,” Int. J. Numer. Methods Eng., 24, pp. 359–373.
Merlet,  J.-P., 2001, “A Generic Trajectory Verifier for the Motion Planning of Parallel Robots,” ASME J. Mech. Des., 123, pp. 510–515.
Fotouhi-C,  R., Szyskowski,  W., and Nikiforuk,  P. N., 2002, “Trajectory Planning and Speed Control for a Two-Link Rigid Manipulator,” ASME J. Mech. Des., 124, pp. 585–589.

Figures

Grahic Jump Location
The concept of a pseudo-wheel for deformation-based microactuators used to re-orient a free rigid body such as a micro spacecraft (a) a set of four actuators of the pseudo-wheel attached to a cube that provides a mounting surface (b) the top view of the actuators (c) the schematic of the mode of bending of an actuator.
Grahic Jump Location
Axis-control of free rigid body such as a spacecraft that points in a desired direction.
Grahic Jump Location
Plot of twist vectors ξ∊so(3) for FRxyxy. Each curve on the surface is at a constant distance from the center, the distance being the magnitude of ξ.
Grahic Jump Location
The ξ plot at radius r=2.5665 for FRxyzxyz.
Grahic Jump Location
Azimuthal (α) and elevation (η) angles of a ξ vector.
Grahic Jump Location
The Cartesian version of the ξ plot at a desired radius rdes.
Grahic Jump Location
The constant θx curves in the feasible region in steps of 15 deg. The thick curves correspond to θx=0 deg.
Grahic Jump Location
The ξ plot corresponding to Fig. 7. Each curve is generated with a constant value of θx. The breaks seen in the figure are artifacts of improper joining of the curves at the end points.
Grahic Jump Location
The constant θz curves in the feasible region in steps of 15°. The thick curves correspond to θz=0 deg.
Grahic Jump Location
Plots showing the surjectivity of the FRxyzy-z-x mapping. (a) Constant θx curves in the α−η plot. The thick curve corresponds to θx=90 deg. (b) Constant θx curves in the ξ plot. (c) Constant θz curves in the α−η plot. The thick curve corresponds to θz=0 deg. (d) Constant θz curves in the ξ plot.
Grahic Jump Location
Plots showing the non-surjectivity of the FRxyzy-z-x mapping. (a) Constant θx curves in the α−η plot. The thick curve corresponds to θx=90 deg. (b) Constant θx curves in the ξ plot (c) Constant θz curves in the α−η plot. The thick curve corresponds to θz=180 deg. (d) Constant θz curves in the ξ plot.

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In