TY - GEN
T1 - Design and analysis of the implementation layer of space cell robot system
AU - Liu, Tianxi
AU - Zhao, Hang
AU - Tian, Hao
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/27
Y1 - 2020/11/27
N2 - With the increasing complexity of space tasks, space cell robots will play an increasingly important role. In this paper, the system of the space cell robot was first introduced, then the implementation layer was designed, especially for the most important functional tissues in the space cell robot, such as swing, twist and rotation tissues. According to the requirements of kinematics modeling and dynamics modeling, the tissue module was classified and described mathematically, which was convenient for the automatic generation of kinematics model and dynamics model. Forward kinematics modeling was carried out based on the product of exponential method (POE) and the inverse kinematics problem is solved based on genetic algorithm. Finally, the dynamic modeling is carried out based on recursive newton-euler method (RNE).
AB - With the increasing complexity of space tasks, space cell robots will play an increasingly important role. In this paper, the system of the space cell robot was first introduced, then the implementation layer was designed, especially for the most important functional tissues in the space cell robot, such as swing, twist and rotation tissues. According to the requirements of kinematics modeling and dynamics modeling, the tissue module was classified and described mathematically, which was convenient for the automatic generation of kinematics model and dynamics model. Forward kinematics modeling was carried out based on the product of exponential method (POE) and the inverse kinematics problem is solved based on genetic algorithm. Finally, the dynamic modeling is carried out based on recursive newton-euler method (RNE).
KW - Dynamics modeling
KW - Implementation Layer
KW - Kinematic modeling
KW - Space cell robotic
UR - https://www.scopus.com/pages/publications/85098950513
U2 - 10.1109/ICUS50048.2020.9275028
DO - 10.1109/ICUS50048.2020.9275028
M3 - 会议稿件
AN - SCOPUS:85098950513
T3 - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
SP - 67
EP - 72
BT - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Unmanned Systems, ICUS 2020
Y2 - 27 November 2020 through 28 November 2020
ER -