Coupled dynamics modeling, control and simulation of a 6-DOF space-based manipulator system
文献类型：会议论文
| 作者 | Chen ZC(陈正仓); Luo HT(骆海涛)
|
| 出版日期 | 2017 |
| 会议日期 | July 31 - August 4, 2017 |
| 会议地点 | Hawaii, USA |
| 关键词 | Coupled Dynamics Simulation Space Manipulator Calculation |
| 页码 | 194-198 |
| 英文摘要 | 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. |
| 源文献作者 | IEEE Robotics and Automation Society |
| 产权排序 | 1 |
| 会议录 | 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-0489-2 |
| WOS记录号 | WOS:000447628700037 |
| 源URL | [http://ir.sia.cn/handle/173321/21310]  |
| 专题 | 沈阳自动化研究所_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. Coupled dynamics modeling, control and simulation of a 6-DOF space-based manipulator system[C]. 见:. Hawaii, USA. July 31 - August 4, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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