This paper studies the control of a Y-shape space robot, which is a spacecraft mounted with a Y-shape manipulator. The Y-shape manipulator is composed of one main manipulator and two sub-manipulators. By using spatial...
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ISBN:
(纸本)9789881563972
This paper studies the control of a Y-shape space robot, which is a spacecraft mounted with a Y-shape manipulator. The Y-shape manipulator is composed of one main manipulator and two sub-manipulators. By using spatial vector and directed path method, the recursive dynamics model is established. Moreover, the closed form dynamics of the space robot is also deduced. It is assumed that the exact knowledge of the inertia parameters is not available. The adaptivecontrol method is used to deal with this difficulty. In order to improve the computational efficiency, the recursive form of the adaptivecontroller is also provided. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed approach.
This paper studies the control of a Y-shape space robot, which is a spacecraft mounted with a Y-shape manipulator. The Y-shape manipulator is composed of one main manipulator and two sub-manipulators. By using spatial...
详细信息
This paper studies the control of a Y-shape space robot, which is a spacecraft mounted with a Y-shape manipulator. The Y-shape manipulator is composed of one main manipulator and two sub-manipulators. By using spatial vector and directed path method, the recursive dynamics model is established. Moreover, the closed form dynamics of the space robot is also deduced. It is assumed that the exact knowledge of the inertia parameters is not available. The adaptivecontrol method is used to deal with this difficulty. In order to improve the computational efficiency, the recursive form of the adaptivecontroller is also ***, a simulation example is provided to demonstrate the effectiveness of the proposed approach.
The low level control for an underwater vehicle equipped with a manipulator is addressed in this paper. The end-effector trajectory is assumed to be properly inverted into vehicle and joint desired trajectories to be ...
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ISBN:
(纸本)9781479959013
The low level control for an underwater vehicle equipped with a manipulator is addressed in this paper. The end-effector trajectory is assumed to be properly inverted into vehicle and joint desired trajectories to be sent to the respective low level controllers. Off-the-shelf manipulators are often equipped with low level position or velocity joint control thus preventing the design of a controller at system level, i.e., taking into account the whole dynamic interactions. Design for the vehicle controller taking into account the presence of the manipulator is achieved resorting to an adaptive, recursive approach. A stability analysis is provided to analytically support the proposed controller. After physical considerations a minimal set of dynamic parameters is used in order to implement a light version of the controller. Numerical simulations validate the proposed approach.
This paper is devoted to investigating the recursive implementation schemes of adaptivecontrol for free-floating space manipulators. Using spatial vector tool and some physical properties that free-floating space man...
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This paper is devoted to investigating the recursive implementation schemes of adaptivecontrol for free-floating space manipulators. Using spatial vector tool and some physical properties that free-floating space manipulators enjoy, we establish a general framework on the seeking of the centripetal and Coriolis matrix that satisfies the skew symmetry requirement. Under this general framework, we propose a recursiveadaptive algorithm for free-floating manipulators, which is composed of two parts: the first part is the recursive derivation of the required manipulator control torques, and the second part is the recursive updating of the spacecraft reference velocity and acceleration. To guarantee the uniform positive definiteness of the estimated spacecraft inertia, we present a parameter projection algorithm to project the estimated parameters into some pre-specified parameter region. In the next, we extend the proposed recursiveadaptive algorithm to task-space control of free-floating space manipulators. We examine the performance of the proposed recursiveadaptive algorithms via numerical simulation on a six-DOF space manipulator.
In this article, kinematic modeling design of a humanoid robot is presented by using Devanit-Hartenberg (D-H) model. Based on the coordinate frame, the model identification of a 6 degree-of-freedom (DOF) upper limb is...
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ISBN:
(纸本)9781467379960
In this article, kinematic modeling design of a humanoid robot is presented by using Devanit-Hartenberg (D-H) model. Based on the coordinate frame, the model identification of a 6 degree-of-freedom (DOF) upper limb is investigated with Newton-Euler(NE) formula. Particle Swarm Optimization (PSO) is used to optimize the trajectory of each joint, the adequate excitation of the robot is provided and the estimated result is improved. The estimated inertia parameters are taken as the initial values of the recursive Newton-Euler (RNE) adaptivecontrol algorithm. Simulations are provided to verify the result of the identification algorithm.
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