TY - GEN
T1 - Tracking control in space robot grasping a floating object
AU - Zhao, Yang
AU - Wei, Cheng
AU - Wang, Hongliu
PY - 2009
Y1 - 2009
N2 - Tracking control and active damping control was applied in space robot capturing a floating object. The grasping operation becomes quite complicated and important for the nonlinear characteristics, such as the dynamic coupling between the manipulator and the space base, the impact of grasping and so on while space robot captures a floating object. Firstly, the dynamic model of the space robot and floating object was established, and then the impact model of grasping was introduced. Secondly, the Dynamic grasping area was created for the grasping control, applying the tracking control which as handling object by hand artificially and active damping control for reducing the impact effect to the space robot. Finally, the simulation results indicated that the operation which was applied hybrid control was better than the uniform grasping as a result that the impact force reduced to 30% approximately. The results would have important academic value and engineering significance.
AB - Tracking control and active damping control was applied in space robot capturing a floating object. The grasping operation becomes quite complicated and important for the nonlinear characteristics, such as the dynamic coupling between the manipulator and the space base, the impact of grasping and so on while space robot captures a floating object. Firstly, the dynamic model of the space robot and floating object was established, and then the impact model of grasping was introduced. Secondly, the Dynamic grasping area was created for the grasping control, applying the tracking control which as handling object by hand artificially and active damping control for reducing the impact effect to the space robot. Finally, the simulation results indicated that the operation which was applied hybrid control was better than the uniform grasping as a result that the impact force reduced to 30% approximately. The results would have important academic value and engineering significance.
UR - https://www.scopus.com/pages/publications/77951598439
U2 - 10.1109/ROBIO.2009.5420448
DO - 10.1109/ROBIO.2009.5420448
M3 - 会议稿件
AN - SCOPUS:77951598439
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 2194
EP - 2198
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -