DocumentCode
515021
Title
On Orbit Servicing Flexible Space Robots Dynamics and Control During Capturing Target
Author
Yu Zhifu ; Yu Yongbo ; Shang Deyong ; Yu Fangna
Author_Institution
Dept. Mech. & Electr. Eng., Hebei Univ. of Eng., Handan, China
Volume
2
fYear
2010
fDate
13-14 March 2010
Firstpage
817
Lastpage
820
Abstract
Dynamics and control of a flexible space robot capturing a static target was presented in this paper. The dynamics model of the robot system is derived with Lagrangian formulation. The control method of flexible space during capturing target was discussed. Finally, some simulation tests have conducted that the proposed method can assurance the stability of capturing the object and reach a good effectiveness for capturing planning.
Keywords
aerospace robotics; mobile robots; robot dynamics; stability; Lagrangian formulation; orbit servicing flexible space robots control; orbit servicing flexible space robots dynamics; simulation tests; target capturing; Control systems; Extraterrestrial measurements; Lagrangian functions; Orbital robotics; Robot control; Robot kinematics; Robotics and automation; Satellites; Space missions; Space technology;
fLanguage
English
Publisher
ieee
Conference_Titel
Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on
Conference_Location
Changsha City
Print_ISBN
978-1-4244-5001-5
Electronic_ISBN
978-1-4244-5739-7
Type
conf
DOI
10.1109/ICMTMA.2010.198
Filename
5460157
Link To Document