Title :
Release dynamic and control for tethered space robot using CMAC
Author :
Meng, Zhongjie ; Wang, Dongke ; Yang, Yinquan ; Huang, Panfeng ; Yan, Jie
Author_Institution :
Coll. of Astronaut., Northwestern Polytech. Univ., Xi´´an, China
Abstract :
As its high safety, flexible operation and many other advantages, tethered space robot (TSR) will be widely applied in the future on-orbit service. Stable release is one of the key technologies of TSR. In this paper, the release dynamic model is established; the release dynamic character of TSR is analyzed; the intelligent control system is deigned by using CMAC neural networks. Take the tangential direction for example, the instable release is simulated. Simulation results show that: the intelligent control system can complete the stable release task very well. The control system has a less sensitiveness for measurement error and tether interference. The control system is robust and the control precision is very high.
Keywords :
aerospace robotics; control system synthesis; manipulator dynamics; neurocontrollers; CMAC neural networks; TSR; intelligent control system; measurement error; on-orbit service; release dynamic; release dynamic model; space manipulator; tether interference; tethered space robot; Aerospace electronics; Control systems; Neural networks; Orbits; Process control; Robot kinematics; CMAC; Release Dynamic; control; neural networks; tethered space robot;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8754-7
Electronic_ISBN :
pending
DOI :
10.1109/ICIEA.2011.5975787
