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Coordinated Control of Tethered Space Robot using Releasing Characteristics of Space Tether
文献类型:会议
作者:Huang, Panfeng[1]  Wang, Dongke[2]  Xu, Xiudong[3]  Meng, Zhongjie[4]  
机构:[1]Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Natl Key Lab Aerosp Flight Dynam, 127 West Youyi Rd, Xian 710072, Shaanxi, Peoples R China.;
[2]Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Natl Key Lab Aerosp Flight Dynam, 127 West Youyi Rd, Xian 710072, Shaanxi, Peoples R China.;China Elect Technol Corp, Res Inst 28, Nanjing 210007, Jiangsu, Peoples R China.;
[3]Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Natl Key Lab Aerosp Flight Dynam, 127 West Youyi Rd, Xian 710072, Shaanxi, Peoples R China.;
[4]Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Natl Key Lab Aerosp Flight Dynam, 127 West Youyi Rd, Xian 710072, Shaanxi, Peoples R China.;
年:2015
通讯作者:Huang, PF (reprint author), Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Natl Key Lab Aerosp Flight Dynam, 127 West Youyi Rd, Xian 710072, Shaanxi, Peoples R China.
会议名称:IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议论文集:2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND
页码范围:1542-1547
会议地点:Zhuhai, PEOPLES R CHINA
会议开始日期:2015-01-01
收录情况:CPCI-S(WOS:000380476200257)  
所属部门:航天学院
人气指数:429
浏览次数:419
被引频次:2
语言:外文
关键词:Tethered space robot; Coordinated control; Sliding mode control; Space tether
摘要:
Tethered Space Robot (TSR) is a new kind of space robot. The tension force of tether can be treated as control input directly for traditional coordinated control of TSR. However, it is difficult to track the desired tension force. In this paper, tension force input is replaced by the control torque of releasing motor in order to solve this problem. Furthermore, it provides new coordinated coupled control method for tracking optimal trajectory and desired attitude angles. The dynamics of tether r ...More
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