On Orbit Servicing Flexible Space Robots Dynamics and Control During Capturing Target

摘要：

Dynamics and control of a flexible space robot capturing a static target was presented in this paper.The dynamics model of the robot system is derived with Lagrangian formulation. The control method of flexible space during capturing target was discussed. Finally, some simulation tests have conducted that the proposed method can assurance the stability of capturing the object and reach a good effectiveness for capturing planning.

关键词： dynamics control space robots flexible multibody capture target

作者: Yu Zhifu Yu Yongbo Shang Deyong Yu Fangna

作者单位: Dept. Mechanical and Electrical Engineering, Hebei University of Engineering, Handan, China, 056038 Dept. Mechanical and Electrical Engineering, Shandong Jiaotong University, Jinan, China, 250023

会议类型: 国际会议

会议名称: 2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 1942-1945

在线出版日期: 2010-03-13（万方平台首次上网日期，不代表论文的发表时间）