Minimum Energy Demand Locomotion on Space Station
文献类型：期刊论文
| 作者 | Wing Kwong Chung; Yangsheng Xu |
| 刊名 | Journal of Robotics
 |
| 出版日期 | 2013 |
| 英文摘要 | The energy of a space station is a precious resource, and the minimization of energy consumption of a space manipulator is crucial to maintain its normal functionalities. This paper first presents novel gaits for space manipulators by equipping a new gripping mechanism. With the use of wheels locomotion, lower energy demand gaits can be achieved. With the use of the proposed gaits, we further develop a global path planning algorithm for space manipulators which can plan a moving path on a space station with a minimum total energy demand. Different from existing approaches, we emphasize both the use of the proposed low energy demand gaits and the gaits composition during the path planning process. To evaluate the performance of the proposed gaits and path planning algorithm, numerous simulations are performed. Results show that the energy demand of both the proposed gaits and the resultant moving path is also minimum. |
| 收录类别 | EI |
| 原文出处 | http://www.hindawi.com/journals/jr/2013/723535/ |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/4464]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | Journal of Robotics |
| 推荐引用方式 GB/T 7714 | Wing Kwong Chung,Yangsheng Xu. Minimum Energy Demand Locomotion on Space Station[J]. Journal of Robotics,2013. |
| APA | Wing Kwong Chung,&Yangsheng Xu.(2013).Minimum Energy Demand Locomotion on Space Station.Journal of Robotics. |
| MLA | Wing Kwong Chung,et al."Minimum Energy Demand Locomotion on Space Station".Journal of Robotics (2013). |
入库方式： OAI收割
来源：深圳先进技术研究院
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