THE KINEMATICS, DYNAMICS, AND CONTROL OF FREE-FLYING AND FREE-FLOATING SPACE ROBOTIC SYSTEMS

被引：285

作者：

DUBOWSKY, S

PAPADOPOULOS, E

机构：

[1] MCGILL UNIV,DEPT MECH ENGN,MONTREAL H3A 2A7,QUEBEC,CANADA

[2] MCGILL UNIV,MCGILL CTR INTELLIGENT MACHINES,MONTREAL H3A 2A7,QUEBEC,CANADA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1993年 / 9卷 / 05期

基金：

美国国家航空航天局; 加拿大自然科学与工程研究理事会;

关键词：

D O I：

10.1109/70.258046

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 dynamics of space robotic systems can be quite complex and bence their control can be difficult. In this paper some important dynamics and control problems, unique to space robotic systems are discussed. Particular attention is paid to free-flying and free-floating space robots that might be used for such tasks as space station repair and construction. Recent advances made by the research community in solving these problems are briefly reviewed. Three examples of promising methods for planning and controlling the motion of space robotic systems are presented. It is suggested that a thorough understanding of the fundamental dynamics of these systems, will result in effective solutions to their control problems.

引用

页码：531 / 543

页数：13