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Dexterous Tethered Space Robot: Design, Measurement, Control, and Experiment
文献类型:期刊
作者:Huang, Panfeng[1]  Zhang, Fan[2]  Cai, Jia[3]  Wang, Dongke[4]  Meng, Zhongjie[5]  Guo, Jian[6]  
机构:[1]National Key Laboratory of Aerospace Flight Dynamics and Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
[2]National Key Laboratory of Aerospace Flight Dynamics and Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
[3]National Key Laboratory of Aerospace Flight Dynamics and Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
[4]National Key Laboratory of Aerospace Flight Dynamics and Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
[5]National Key Laboratory of Aerospace Flight Dynamics and Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
[6]Northwestern Polytechnical University, Xi'an, China
通讯作者:Huang, P (reprint author), Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Sch Astronaut, Xian 710072, Peoples R China.; Huang, P (reprint author), Northwestern Polytech Univ, Res Ctr Intelligent Robot, Sch Astronaut, Xian 710072, Peoples R China.
年:2017
期刊名称:IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS影响因子和分区
卷:53
期:3
页码范围:1452-1468
增刊:正刊
学科:工程学
收录情况:SCI(E)(WOS:000403288600030)  EI(20172403789066)  
所属部门:航天学院
被引频次:24
人气指数:1054
浏览次数:1045
基金:National Natural Science Foundation of China [11272256]
摘要:
In this paper, we systematically introduce a novel geostationary orbit (GEO) space debris removal system called dexterous tethered space robot (DTSR). The DTSR has three notable characteristics: dexterity, lightweight, and cost effectiveness. We first describe the system's design and a typical mission scenario, and then present its two core technologies (vision-based pose measurement and coordinated controller design) in detail. Finally, we present the extensive simulations and ground semiphysic ...More
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