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An Effective Approach Control Scheme for the Tethered Space Robot System
文献类型:期刊
作者:Meng, Zhongjie[1]  Huang, Panfeng[2]  
机构:[1]School of Astronautics, Northwestern Polytechnical University, Xian, China
[2]School of Astronautics, Northwestern Polytechnical University, Xian, China
通讯作者:Meng, ZJ (reprint author), Northwestern Polytech Univ, Sch Astronaut, Xian 710072, Peoples R China.
年:2014
期刊名称:INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS影响因子和分区
卷:11
增刊:增刊
学科:工程学
收录情况:SCI(E)(WOS:000341373200001)  EI(20151000594017)  
所属部门:航天学院
被引频次:1
人气指数:733
浏览次数:720
基金:National Natural Science Foundation of China [61005062, 11272256]; Fundamental Research Funds for the Central Universities [3102014JCQ01005]; Open Research Foundation of Science and Technology on Aerospace Flight Dynamics Laboratory [2012afdl022]
关键词:Tethered Space Robot; Approach Control; Dynamic Modelling; Coordinated Control
摘要:
The tethered space robot system (TSR), which is composed of a platform, a gripper and a space tether, has great potential in future space missions. Given the relative motion among the platform, tether, gripper and the target, an integrated approach model is derived. Then, a novel coordinated approach control scheme is presented, in which the tether tension, thrusters and the reaction wheel are all utilized. It contains the open-loop trajectory optimization, the feedback trajectory control and at ...More
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