Nonlinear Control Algorithm for a Free-Flying Space Robot

被引：1

作者：

Rutkovsky, V. Yu ^{[1
]}

Sukhanov, V. M. ^{[1
]}

Glumov, V. M. ^{[1
]}

机构：

[1] Russian Acad Sci, Inst Control Sci, Moscow 117997, Russia

来源：

10TH INTERNATIONAL CONFERENCE ON MATHEMATICAL PROBLEMS IN ENGINEERING, AEROSPACE AND SCIENCES (ICNPAA 2014) | 2014年 / 1637卷

关键词：

Free-flying space manipulation robot; mathematical model; workspace; control algorithm; MANIPULATORS; KINEMATICS; DYNAMICS;

D O I：

10.1063/1.4904665

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

It is considered an alternative approach for solving the control tasks of the free-flying space manipulation robots (SMR) in the class of the system with feedback and in the regimes of manipulation functioning. In the context of this approach the questions of the SMR working area defining and forming of a control algorithm for the manipulation payload mounting in the given point of space are considered. At this it is supposed that the information about the direction to the target and the distance to it is known. Efficiency of suggested approach is illustrated at computer simulation of an example.

引用

页码：925 / 933

页数：9

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