Motion equations and control of the free-flying space manipulator in the reconfiguration mode

被引：23

作者：

Rutkovskii, V. Yu. ^{[1
]}

Sukhanov, V. M. ^{[1
]}

Glumov, V. M. ^{[1
]}

机构：

[1] Russian Acad Sci, Trapeznikov Inst Control Sci, Moscow, Russia

来源：

AUTOMATION AND REMOTE CONTROL | 2010年 / 71卷 / 01期

基金：

俄罗斯基础研究基金会;

关键词：

Body orientation - Configuration control - Economic control - Free flying space manipulators (FFSM) - Orbital station - Planar motion - Space robots;

D O I：

10.1134/S0005117910010066

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of constructing a mathematical model of the planar motion of a free-flying space manipulator meant for maintenance of the surface of manned orbital station was examined. Consideration was given to the design of an algorithm of economic control of the manipulator configuration on the basis of self-braking drives with allowance for substantial mobility of the base. Some results of modeling the space robot dynamics in the mode of manipulator configuration control with subsequent suppression of the carrying body orientation error which corroborate efficiency of the proposed algorithms were presented.

引用

页码：70 / 86

页数：17