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题名: Attitude control for astronaut assisted robot in the space station
作者: 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
刊名: International Journal of Control, Automation and Systems
ISSN号: 1598-6446
出版日期: 2016
卷号: 14, 期号:4, 页码:1082-1095
收录类别: SCI ; EI
产权排序: 1
项目资助者: 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记录号: WOS:000381161200021
WOS标题词: Science & Technology ; Technology
类目[WOS]: Automation & Control Systems
关键词[WOS]: ACTUATOR SATURATION ; NEURAL-NETWORKS ; TRACKING ; MANIPULATOR ; SPHERES ; SYSTEM
研究领域[WOS]: Automation & Control Systems
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/18735
Appears in Collections:空间自动化技术研究室_期刊论文

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Recommended Citation:
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.
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