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To reduce mass and cubage, a joint for space robot is design with a double star windings permanent magnet synchronous machine (DS-PMSM), a double windings permanent magnet break, two resolvers with double windings, a torque sensor with double strains. Two complete sub-control systems have been constructed based on Field Programmable Gate Array (FPGA). An isolatable interface port is designed between...
This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large torque driver capacity. The system consists of a 6 DOFs robot arm composed of six identical modular joints, and a large-error tolerated end effector. A FPGA based joint controller hardware structure is built to form a distributed control scheme...
In free-flying space robotic system, the thruster jets will compensate the disturbances induced by manipulator to keep the attitude of the robot base invariable. For saving the expensive fuel that thruster jets cost, point-to-point path planning method in joint space for minimizing base reaction is proposed in this paper. The sinusoidal and polynomial functions are used here to parameterize the joint...
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