典型文献
A modified forward and backward reaching inverse kinematics based incremental control for space manipulators
文献摘要：
Forward and backward reaching inverse kinematics(FABRIK)is an efficient two-stage iterative solver for inverse kinematics of spherical-joint manipulator without the calculation of Jacobian matrix.Based on FABRIK,this paper presents an incremental control scheme for a free-floating space manipulator consists of revolute joints and rigid links with the consideration of joint constraints and dynamic coupling effect.Due to the characteristics of FABRIK,it can induce large angular movements on specific joints.Apart from that,FABRIK maps three dimen-sional(3D)problem into two dimensional(2D)problem by a simple geometric projection.This operation can cause infinite loops in some cases.In order to overcome these issues and apply FAB-RIK on space manipulators,an increments allocation method is developed to constrain the angular movements as well as to re-orient the end-effector.The manipulator is re-positioned based on the momentum conservation law.Instead of pure target position tracking,the orientation control of the end-effector is also considered.Numerical simulation is performed to testify and demonstrate the effectiveness and reliability of the proposed incremental control approach.
文献关键词：
中图分类号：
作者姓名：
Gangqi DONG;Panfeng HUANG;Yongjie WANG;Rongsheng LI
作者机构：
National Key Laboratory of Aerospace Flight Dynamics,Northwestern Polytechnical University,Xi'an 710072,China;Research Center for Intelligent Robotics,School of Astronautics,Northwestern Polytechnical University,Xi'an 710072,China
文献出处：
引用格式：
[1]Gangqi DONG;Panfeng HUANG;Yongjie WANG;Rongsheng LI-.A modified forward and backward reaching inverse kinematics based incremental control for space manipulators)[J].中国航空学报（英文版）,2022(12):287-295
A类：
FABRIK,RIK
B类：
modified,forward,backward,reaching,inverse,kinematics,incremental,control,space,manipulators,Forward,efficient,two,stage,iterative,solver,spherical,without,calculation,Jacobian,matrix,Based,this,paper,presents,scheme,free,floating,consists,revolute,joints,rigid,links,consideration,constraints,dynamic,coupling,Due,characteristics,can,induce,large,angular,movements,specific,Apart,from,that,maps,three,problem,into,dimensional,2D,by,simple,geometric,projection,This,operation,cause,infinite,loops,some,cases,order,overcome,these,issues,apply,increments,allocation,method,developed,well,end,effector,positioned,momentum,conservation,law,Instead,pure,target,tracking,orientation,also,considered,Numerical,simulation,performed,testify,demonstrate,effectiveness,reliability,proposed,approach
AB值：
0.55157
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