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Genetic algorithms-based minimum torque path planning for space manipulator
文献类型:会议
作者:Huang, Panfeng[1]  Yan, Jie[2]  Xu, Yangsheng[3]  Xu, Wenfu[4]  Liang, Bin[5]  
机构:[1]College of Astronautics, Northwestern Polytechnical University, China |Automation and Computer-Aided Engineering, Chinese University of Hong Kong, Hong Kong, Hong Kong
[2]College of Astronautics, Northwestern Polytechnical University, China
[3]Automation and Computer-Aided Engineering, Chinese University of Hong Kong, Hong Kong, Hong Kong
[4]Shenzhen Space Technology Center, Harbin Institute of Technology, China
[5]Shenzhen Space Technology Center, Harbin Institute of Technology, China
年:2006
通讯作者:Huang, P.(pfhuang@acae.cuhk.edu.hk)
会议名称:6th World Congress on Intelligent Control and Automation, WCICA 2006
页码范围:3575-3579
会议地点:Dalian, China
会议开始日期:2006-06-21
会议结束日期:2006-06-23
收录情况:EI(20071510541891)  
所属部门:航天学院
人气指数:1020
浏览次数:1008
语言:外文
摘要:
In space environment, the power supply for space manipulator is limited because of lower ratio of the solar array. Therefore, the space manipulator's trajectory should be optimum so that the torque of manipulator can be minimized in order to save the power. This paper presents a minimum-torque path planning scheme for space manipulator. In this formulation, Genetic Algorithm (GA) is used to minimize the objective function. The planning procedure is performed in Joint space and with respect to al ...More
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