Object-based pose graph for dynamic indoor environments

Relying on static representations of the environment limits the use of mapping methods in most real-world tasks. Real-world environments are dynamic and undergo changes that need to be handled through map adaptation. In this work, an object-based pose graph is proposed to solve the problem of mapping in indoor dynamic environments with mobile...

Exploiting Dynamics in robotic arms with repetitive tasks

Since the industrial revolution, machines have taken over many tasks from humans, increasing labor productivity and prosperity. In the 20th century, the introduction of robots created a second wave of automation, increasing the labor productivity even further. In order to create a third wave of automation, it is necessary to develop a new...

Numerical simulation of mechanisms and manipulator robots with flexible links and flexible joints

The real-time Hermes robot arm simulator: HSF-P

The Hermes manipulation system (HERA) is a sophisticated space manipulator system, which has to perform tasks ranging from berthing to tool operation in various operational modes from fully automatic to purely manual. The HERA system main contractor is Fokker Space & Systems B.V. (FSS). Development and qualification of such a space-based...

Equivalent flexibility modelling: A novel approach towards recursive simulation of flexible spacecraft-manipulator dynamics

For the simulation of rigid spacecraft manipulator dynamics there exists efficient recursive software. Extension of this software for the simulation of flexible spacecraft-manipulator dynamics would have important advantages. In this paper the method of Equivalent Flexibility Modelling (EFM) is outlined. Each flexible body is re-modelled as a...

Definition of the Eurosim simulation subsystem

Recently, the European Space Agency (ESA) initiated two studies to define a simulation facility for space operations involving space manipulators and other in-orbit servicing and assembly systems. This European Robotic Operations Simulator (EUROSIM) will play an important role during system development as well as prior and parallel to...

Dynamics modelling, simulation, and control of a spacecraft/manipulator system

Four well-known formalisms for mathematical modelling of the dynamics of a spacecraft/manipulator system are derived from the unifying d'Alembert principle. The Newton-Euler formalism is discussed in more detail, as it allows efficient numerical simulation. An algorithm is defined for the control of the manipulator end-effector motion in...