SIA OpenIR  > 空间自动化技术研究室
Attitude control for astronaut assisted robot in the space station
Liu JG(刘金国); Gao Q(高庆); Liu ZW(刘志伟); Li YM(李杨民)
作者部门空间自动化技术研究室
关键词Astronaut Assisted Robot Attitude Control Pid Neural Network Space Station
发表期刊International Journal of Control, Automation and Systems
ISSN1598-6446
2016
卷号14期号:4页码:1082-1095
收录类别SCI ; EI
EI收录号20162402479841
WOS记录号WOS:000381161200021
产权排序1
资助机构National Science Foundation of China (51175494, 51575544), Macau Science and Technology Development Fund (108/2012/A3), the State Key Laboratory of Robotics Foundation, and Research Committee of University of Macau (MYRG2015-00194-FST).
摘要Because of the limited working hours of astronauts in the space station, the in-cabin robot has high value in the technological validation and scientific research. Based on this requirement, we proposed and designed an Astronaut Assisted Robot(AAR) working in the space station. It can float in the space station cabin, fly autonomously, and hold a fixed position and/or posture. In addition, it also possesses environmental awareness capabilities and intelligence. Thus the AAR can assist astronauts to complete some special scientific experiments or technical tests. In this paper, the system architecture and experimental equipment of the AAR are designed firstly depending on the characteristics of space microgravity environment and the requirements of assisting astronauts missions. And then, the motion principles of the AAR are analyzed and the robot’s dynamic model is established by using the Newton -Euler algorithm. Since the attitude control of the robot is the basis for its free movement, the PID Neural Network( PIDNN) algorithm, which is a kind of intelligent control algorithm, is used to design the attitude controller of the AAR. Finally, the reasonability of the robot’s structural design and the availability of its attitude controllers are verified through the simulation experiments. 
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems
关键词[WOS]ACTUATOR SATURATION ; NEURAL-NETWORKS ; TRACKING ; MANIPULATOR ; SPHERES ; SYSTEM
WOS研究方向Automation & Control Systems
引用统计
被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/18735
专题空间自动化技术研究室
通讯作者Liu JG(刘金国); Li YM(李杨民)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of the Chinese Academy of Sciences, Beijing 100049, China
3.Department of Electromechanical Engineering, University of Macau, Taipa, E11-4067, China
推荐引用方式
GB/T 7714
Liu JG,Gao Q,Liu ZW,et al. Attitude control for astronaut assisted robot in the space station[J]. International Journal of Control, Automation and Systems,2016,14(4):1082-1095.
APA Liu JG,Gao Q,Liu ZW,&Li YM.(2016).Attitude control for astronaut assisted robot in the space station.International Journal of Control, Automation and Systems,14(4),1082-1095.
MLA Liu JG,et al."Attitude control for astronaut assisted robot in the space station".International Journal of Control, Automation and Systems 14.4(2016):1082-1095.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Attitude control for(2283KB)期刊论文作者接受稿开放获取ODC PDDL浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Liu JG(刘金国)]的文章
[Gao Q(高庆)]的文章
[Liu ZW(刘志伟)]的文章
百度学术
百度学术中相似的文章
[Liu JG(刘金国)]的文章
[Gao Q(高庆)]的文章
[Liu ZW(刘志伟)]的文章
必应学术
必应学术中相似的文章
[Liu JG(刘金国)]的文章
[Gao Q(高庆)]的文章
[Liu ZW(刘志伟)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Attitude control for astronaut assisted robot in the space station.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。