| 题名: | Coupled dynamics and simulation of a space-based manipulator system |
| 作者: | Chen ZC(陈正仓) ; Leng YQ(冷雨泉); Zhou WJ(周维佳)
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| 作者部门: | 空间自动化技术研究室
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| 会议名称: | 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
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| 会议日期: | December 6-9, 2015
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| 会议地点: | Zhuhai, China
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| 会议录: | Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
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| 会议录出版者: | IEEE
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| 会议录出版地: | Piscataway, NJ, USA
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| 出版日期: | 2015
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| 页码: | 751-756
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| 收录类别: | EI
; CPCI（ISTP）
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| ISBN号: | 978-1-4673-9674-5
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| 摘要: | In this paper, a space-based manipulator system (SBMS) is researched. Although lots of work have been done about ground-based system for a long time, there are still exists a lot of problems for space-based manipulator because of the different dynamics modeling between them. A popular and interesting issue is coupled dynamics among the system. So, a special case, a SBMS with two manipulators symmetrically installed on a floating base, is modeled as the research object during whole work. Firstly, by establishing its kinematics and dynamics model, a general equation of motion is achieved. Then, a simulation test aiming at revealing the coupled phenomenon and how does the motion of manipulators impact on the floating base is conducted. The test results provide concrete proofs for our theoretical analysis. |
| 语种: | 英语
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| 产权排序: | 1
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| EI收录号: | 20161802327557
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| WOS记录号: | WOS:000380476200126
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| Citation statistics: |
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| 内容类型: | 会议论文
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| URI标识: | http://ir.sia.cn/handle/173321/18603
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| Appears in Collections: | 空间自动化技术研究室_会议论文
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| Coupled dynamics and simulation of a space-based manipulator system.pdf（1238KB） | 会议论文 | -- | 开放获取 | | View
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| Recommended Citation: | |
Chen ZC,Leng YQ,Zhou WJ. Coupled dynamics and simulation of a space-based manipulator system[C]. 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015.Coupled dynamics and simulation of a space-based manipulator system.
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