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In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. Considering the Uncertainties of the system, the state function of the space robot system with dual-arms is established. Using backstepping method, a new adaptive robust tracking control method using GCMAC(Gauss basis function Cerebellar Model Articulation Controller) is proposed. The Lyapunov...
In this paper, the augmented adaptive control problem of free-floating dual-arm space robot system is studied. First, the dynamic equations of free-floating dual-arm space robot system are derived through the Lagranian formulation. With the augmentation approach, the control inputs and outputs are expanded. Based on the above results, an augmented adaptive control scheme for dual-arm space robot system...
In this paper, the coordinated control of the base's attitude of dual-arm space robot system and the pay load hold by the end-effectors is discussed. First, the dynamic equations of dual-arm space robot system are derived through the Lagranian formulation. With the augmentation approach and the Jacobi matrix of system, the control inputs and outputs are expanded. Based on the above results, an adaptive...
In this paper, we propose a closed-loop attitude controller for a free-floating space robot with initial angular momentum, and the planar two-link space robot have two revolute joints. We process a kinematic analyse to the robot system and obtain a nonholonomic system with 3-state and 2-input. Then we choose a coordinate transformation, and convert the nonholonomic system into the time-state control...
In this paper, the kinematics and dynamics of free-flying dual-arm space robot systems are analyzed. By use the method of multibody dynamics, the dynamics equations and Jacobi relationship of dual-arm space robot systems are established. Based on the results, the control problem for dual-arm space robot to track the desired trajectory in workspace is discussed. Because of the high structure complexity...
In this paper, the robust control scheme of free-floating dual-arm space robot system with two payloads is proposed. First, the dynamic equations of free-floating dual-arm space robot system are derived through the Lagranian formulation. With the augmentation approach and the Jacobi matrix of system, the control inputs and outputs are expanded. Based on the above results, a robust control scheme of...
In this paper, the optimal nonholonomic motion planning of free-floating space robot system with dual-arms is discussed. Base on the linear and angular momentum conservations of the system, the system state equations for control design are established, so the nonholonomic motion planning objective of attitude control of space robot system is translated as the solution of a canonical nonlinear control...
In this paper, a kind of nonlinear dynamic model of dual-arm free-floating space robot systems is presented based on Lagrange method. Based on the result, the control problem for space manipulator to track the desired trajectory in joint workspace is discussed. Because of the high structure complexity and the parameter uncertainty of space manipulator systems, the scheme of variable structure sliding-mode...
In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed, and it is shown that the Jacobian matrix and the dynamic equations of the system are nonlinearly dependent on inertial parameters. In order to overcome the above problems, the system is modeled as under-actuated robot system, and the idea of augmentation approach is adopted. It is demonstrate...
In this paper, the adaptive neural network control of space manipulator system is discussed. Firstly, the dynamic equations of free-floating space manipulator system are derived through the Lagrangian formulation. Based on the above results, space manipulator system is modeled through the neural network technique. And then an adaptive neural network control scheme of space manipulator system with...
In this paper, we propose an adaptive controller for a space robot system with unknown payload parameters. The dynamic equations of dual-arm space robot system are derived through the Lagrangian formulation. The obtained dynamic equation can be represented by a group of inertial parameters. Based on the results and considered unknown payload parameters, we design an adaptive controller for the robot...
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