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Locked-joint Failure Identification for Free-floating Space Robots
文献类型:会议
作者:Chang, Haitao[1]  Huang, Panfeng[2]  Wang, Ming[3]  Lu, Zhenyu[4]  
机构:[1]Research Center of Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China |National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China
[2]Research Center of Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China |National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China
[3]Research Center of Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China |National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China
[4]Research Center of Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China |National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China
年:2014
通讯作者:Chang, HT (reprint author), Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Xian 710072, Shaanxi Provinc, Peoples R China.
会议名称:2014 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA)
页码范围:170-175
会议地点:Hailar, PEOPLES R CHINA
会议开始日期:2014-01-01
收录情况:EI(20145000304402)  CPCI-S(WOS:000363815200032)  
所属部门:航天学院
人气指数:286
浏览次数:276
被引频次:3
语言:外文
关键词:Fault Identification; Locked-joint Failure; Space Robot; Differential Evolution
摘要:
The space robot is concerned the most reasonable method for on-orbit servicing tasks. In space applications, failure of the manipulator is critical for both the space robot and the spacecraft serviced. The failure mode concerned in this paper is locked-joint failure which is one of the most common modes. To identify the locked position of the joint, the response mapping between of the joints motion and the base motion is derived based on momentum conservation theorem. Then, the base velocity can ...More
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