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Cellular Space Robot and Its Interactive Model Identification for Spacecraft Takeover Control
文献类型:会议
作者:Chang, Haitao[1]  Huang, Panfeng[2]  Lu, Zhenyu[3]  Meng, Zhongjie[4]  Liu, Zhengxiong[5]  Zhang, Yizhai[6]  
机构:[1]Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Res Ctr Intelligent Robot, Sch Astronaut, 127 West Youyi Rd, Xian, Peoples R China.;
[2]Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Res Ctr Intelligent Robot, Sch Astronaut, 127 West Youyi Rd, Xian, Peoples R China.;
[3]Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Res Ctr Intelligent Robot, Sch Astronaut, 127 West Youyi Rd, Xian, Peoples R China.;
[4]Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Res Ctr Intelligent Robot, Sch Astronaut, 127 West Youyi Rd, Xian, Peoples R China.;
[5]Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Res Ctr Intelligent Robot, Sch Astronaut, 127 West Youyi Rd, Xian, Peoples R China.;
[6]Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Res Ctr Intelligent Robot, Sch Astronaut, 127 West Youyi Rd, Xian, Peoples R China.;
年:2016
通讯作者:Huang, PF (reprint author), Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Res Ctr Intelligent Robot, Sch Astronaut, 127 West Youyi Rd, Xian, Peoples R China.
会议名称:2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)
页码范围:3069-3074
会议开始日期:2016-01-01
收录情况:EI(20165203162322)  CPCI-S(WOS:000391921703038)  
所属部门:航天学院
人气指数:373
浏览次数:361
被引频次:3
语言:外文
摘要:
Facing the new challenges of the spacecraft developing, the concept of cellular space robot (CSR) for both spacecraft system construction and on-orbit operation is presented in this paper. The system description and design principles are introduced to ensure the flexibility of the system. And dynamics model for takeover control is developed. After that, the regression models for the parameter identification are deduced based on the dynamics model. An interaction model identification algorithm is ...More
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