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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)
Department空间自动化技术研究室
Source PublicationInternational Journal of Control, Automation and Systems
ISSN1598-6446
2016
Volume14Issue:4Pages:1082-1095
Indexed BySCI ; EI
EI Accession number20162402479841
WOS IDWOS:000381161200021
Contribution Rank1
Funding OrganizationNational 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).
KeywordAstronaut Assisted Robot Attitude Control Pid Neural Network Space Station
AbstractBecause 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. 
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems
WOS KeywordACTUATOR SATURATION ; NEURAL-NETWORKS ; TRACKING ; MANIPULATOR ; SPHERES ; SYSTEM
WOS Research AreaAutomation & Control Systems
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18735
Collection空间自动化技术研究室
Corresponding AuthorLiu JG(刘金国); Li YM(李杨民)
Affiliation1.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
Recommended Citation
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.
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