Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Planar Rigid-Body Motion01:22

Planar Rigid-Body Motion

451
Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
451
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

671
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
671
Absolute Motion Analysis- General Plane Motion01:24

Absolute Motion Analysis- General Plane Motion

224
Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
224
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

406
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
406
Two-Dimensional Force System: Problem Solving01:29

Two-Dimensional Force System: Problem Solving

584
Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
584
Gravitational Potential Energy for Extended Objects01:07

Gravitational Potential Energy for Extended Objects

1.4K
Consider a system comprising several point masses. The coordinates of the center of mass for this system can be expressed as the summation of the product of each mass and its position vector divided by the total mass:
1.4K

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Maternal vitamin A deficiency programs offspring visceral hypersensitivity through RARĪ²-COX-2/PGE2 signaling.

Biochimica et biophysica acta. Molecular and cell biology of lipidsĀ·2026
Same author

Transparent Conductive Oxide Electrodes in Perovskite Solar Cells: Challenges, Strategies, and Outlook.

ChemSusChemĀ·2026
Same author

Maternal vitamin A deficiency during pregnancy impairs gastrointestinal function and alters the colonic T and B cell immune repertoire in offspring rats.

Biochemical and biophysical research communicationsĀ·2025
Same author

Bioinspired origami-based soft prosthetic knees.

Nature communicationsĀ·2024
Same author

Crack-Deflecting Lattice Metamaterials Inspired by Precipitation Hardening.

Small (Weinheim an der Bergstrasse, Germany)Ā·2024
Same author

The Modification Mechanism, Evaluation Method, and Construction Technology of Direct-to-Plant SBS Modifiers in Asphalt Mixture: A Review.

PolymersĀ·2023

Related Experiment Video

Updated: Jul 10, 2025

Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

6.6K

A Pre-Grasping Motion Planning Method Based on Improved Artificial Potential Field for Continuum Robots.

Lihua Wang1,2, Zezhou Sun2, Yaobing Wang2

  • 1School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China.

Sensors (Basel, Switzerland)
|November 25, 2023
PubMed
Summary

Continuum robots can now better capture space debris using an improved artificial potential field. This method enhances pre-grasping motion planning, preventing debris escape and achieving a 97.8% success rate.

Keywords:
active debris removalartificial potential fieldcontinuum robotspre-grasping motion planningwhole-arm grasping

More Related Videos

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.5K
Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
09:41

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Published on: April 21, 2023

1.6K

Related Experiment Videos

Last Updated: Jul 10, 2025

Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

6.6K
A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.5K
Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
09:41

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Published on: April 21, 2023

1.6K

Area of Science:

  • Robotics
  • Aerospace Engineering
  • Space Debris Management

Background:

  • Maintaining space environment stability requires effective active debris removal (ADR).
  • Continuum robots offer unique capabilities for ADR due to their hyper-redundant degrees of freedom and whole-arm grasping.
  • Existing methods may struggle with target escape during pre-grasping maneuvers.

Purpose of the Study:

  • To propose a novel pre-grasping motion planning method for continuum robots in ADR missions.
  • To enhance the reliability of capturing space debris by preventing target escape.
  • To improve the success rate of ADR operations.

Main Methods:

  • A pre-grasping motion planning strategy utilizing an improved artificial potential field (APF) for continuum robots.
  • Workspace analysis to ensure target accessibility before motion planning.
  • The APF incorporates spatial rotating, attractive (position and posture), and repulsive potential fields.
  • Division of the continuum robot into delivery and grasping segments for optimized motion.

Main Results:

  • The proposed APF method effectively restricts the movement of grasping targets, preventing escape.
  • Inclusion of the posture potential field significantly improves pre-grasping motion planning performance for spatial targets.
  • Simulations demonstrated the method's effectiveness, achieving a success rate of up to 97.8%.

Conclusions:

  • The improved APF-based motion planning method is effective for continuum robot-based ADR.
  • The posture potential field is critical for enhancing the success rate of pre-grasping spatial targets.
  • This approach contributes to more secure and reliable space debris removal operations.