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
收藏
页码：925 / 933
页数：9
相关论文
共 50 条
  • [21] Determination of workspace and required initial position of free-flying space manipulator at target capture
    Sukhanov, V. M.
    Rutkovskii, V. Yu
    Glumov, V. M.
    AUTOMATION AND REMOTE CONTROL, 2014, 75 (11) : 2014 - 2022
  • [22] Event-triggered practical tracking control for an uncertain free-flying flexible-joint space robot with dead-zone input
    Li, Jian
    Liang, Yuqi
    Zhu, Lingling
    Wu, Zhaojing
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2025, 47 (08) : 1492 - 1502
  • [23] Adaptive Jacobian position/force tracking control of free-flying manipulators
    Wang, Hanlei
    Xie, Yongchun
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2009, 57 (02) : 173 - 181
  • [24] High-Precision Trajectory Tracking Control for Free-Flying Space Manipulators With Multiple Constraints and System Uncertainties
    Tian, Guangtai
    Li, Bin
    Zhao, Qin
    Duan, Guangren
    IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2024, 60 (01) : 789 - 801
  • [25] Trajectory optimization and tracking control of free-flying space robots for capturing non-cooperative tumbling objects
    Zhang, Ouyang
    Yao, Weiran
    Du, Desong
    Wu, Chengwei
    Liu, Jianxing
    Wu, Ligang
    Sun, Yu
    AEROSPACE SCIENCE AND TECHNOLOGY, 2023, 143
  • [26] An Experiment for the Study of Free-Flying Supercavitating Projectiles
    Cameron, Peter J. K.
    Rogers, Peter H.
    Doane, John W.
    Gifford, David H.
    JOURNAL OF FLUIDS ENGINEERING-TRANSACTIONS OF THE ASME, 2011, 133 (02): : 21303 - 1
  • [27] Deformable wing kinematics in free-flying hoverflies
    Walker, Simon M.
    Thomas, Adrian L. R.
    Taylor, Graham K.
    JOURNAL OF THE ROYAL SOCIETY INTERFACE, 2010, 7 (42) : 131 - 142
  • [28] Sliding Mode Control of Space Robot Formation Flying
    Bo, Xu
    Gao, Youtao
    PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOTS AND AGENTS, 2009, : 48 - +
  • [29] Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System
    Virgili-Llop, Josep
    Romano, Marcello
    FRONTIERS IN ROBOTICS AND AI, 2019, 6
  • [30] Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance
    Jiang, Canghua
    Teo, Kok Lay
    Xu, Honglei
    Caccetta, Louis
    Duan, Guang-Ren
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2015, 72 : 235 - 247
12345