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Coupled dynamics modeling, control and simulation of a 6-DOF space-based manipulator system
Chen ZC(陈正仓); Luo HT(骆海涛); Zhou WJ(周维佳)
作者部门空间自动化技术研究室
会议名称7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
会议日期July 31 - August 4, 2017
会议地点Hawaii, USA
会议主办者IEEE Robotics and Automation Society
会议录名称2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
出版者IEEE
出版地New York
2017
页码194-198
收录类别EI
EI收录号20183905873691
产权排序1
ISBN号978-1-5386-0489-2
关键词Coupled Dynamics Simulation Space Manipulator Calculation
摘要

Compared with the fixed-base manipulator system, kinematical and dynamical modeling and control of free-floating manipulator system (SBMS) becomes much more complicated. The primary cause is that there exists a deep dynamical coupling relationship between the floating base and the manipulator mounted on it. Firstly, in this article, generalized equation of motion of an n-DOF SBMS is built. Secondly, relevant attitudes of generalize coefficient matrixes, such as dynamical manipulability, are discussed. Then, in order to make the joints well follow a desired trajectory designed beforehand, a modelbased control method is proposed aiming at a 6-DOF SBMS. Finally, a simulation test is conducted to demonstrate effectiveness of the method mentioned above.

语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21310
专题空间自动化技术研究室
通讯作者Chen ZC(陈正仓)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Chen ZC,Luo HT,Zhou WJ. Coupled dynamics modeling, control and simulation of a 6-DOF space-based manipulator system[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:194-198.
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