Dynamics and Numerical Simulation of Space Walking Robot
In this paper, the dynamics and control of Space Walking Robot (SWR) is considered.The SWR can be regarded as a satellite with a dual-arm manipulator system.The dynamics of SWR with 7 Joint-Rotation-DOFs in each arm is derived by an improved Kane”s method.A controller based on feedback linearization and PID control is employed to drive the SWR to follow the desired trajectories.Numerical simulations show that the SWR is capable of tracking the prescribed trajectories to achieve the walking task.
space walking robot space manipulator dynamics Kane”s method feedback linearization
Liu Fei Hu Quan Zhang Jingrui
School of Aerospace Engineering, Beijing Institute of Technology, 100081 Beijing, China
国内会议
烟台
英文
277-283
2015-08-01（万方平台首次上网日期，不代表论文的发表时间）