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The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing...
In space application, the space robot is being used to repair and construct spacecrafts. As well known, the high dynamic coupling between the arm and its base causes the interactive disturbance. The motion of arm disturbs the attitude of the base, the attitude changes affect the manipulating precision of the end-effector. Even, such a disturbance may produce the serious impact between the arm's end-effector...
In the future space application, space robot is playing more and more important roles in on-orbital retrieval missions, such as catching an uncontrolled and unknown satellite. As well known, the contact and impact can not be avoided fully when the space robot captures the unknown objects. However, these unknown factors, such as the unknown payload and unknown contact force and the other uncertain...
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