典型文献
Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional approach
文献摘要：
When free-floating space robots perform space tasks,the satellite base attitude is disturbed by the dynamic coupling.The disturbance of the base orientation may affect the communication between the space robot and the control center on earth.In this paper,the enhanced bidirectional approach is proposed to plan the manipulator trajectory and eliminate the final base attitude variation.A novel acceleration level state equation for the nonholonomic problem is proposed,and a new intermediate variable-based Lyapunov function is derived and solved for smooth joint trajectory and restorable base trajectories.In the method,the state equation is first proposed for dual-arm robots with and without end constraints,and the system stability is analyzed to obtain the system input.The input modification further increases the system stability and simplifies the calculation complexity.Simulations are carried out in the end,and the proposed method is validated in minimizing final base attitude change and trajectory smoothness.Moreover,the minute internal force during the coordinated operation and the considerable computing efficiency increases the feasibility of the method during space tasks.
文献关键词：
中图分类号：
作者姓名：
Zongwu XIE;Xiaoyu ZHAO;Zainan JIANG;Haitao YANG;Chongyang LI
作者机构：
State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China;Robotic System Department,Jiangsu Jitri-Hust Intelligent Equipment Technology,Wuxi 214000,China
文献出处：
引用格式：
[1]Zongwu XIE;Xiaoyu ZHAO;Zainan JIANG;Haitao YANG;Chongyang LI-.Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional approach)[J].机械工程前沿,2022(01):1-16
A类：
restorable
B类：
Trajectory,planning,attitude,restoration,dual,arm,free,floating,space,by,enhanced,bidirectional,approach,When,robots,perform,tasks,satellite,disturbed,dynamic,coupling,disturbance,orientation,may,affect,communication,between,control,center,earth,In,this,paper,proposed,manipulator,trajectory,eliminate,final,variation,novel,acceleration,level,state,equation,nonholonomic,problem,new,intermediate,variable,Lyapunov,function,derived,solved,joint,trajectories,method,first,without,end,constraints,system,stability,analyzed,obtain,input,modification,further,increases,simplifies,calculation,complexity,Simulations,are,carried,validated,minimizing,change,smoothness,Moreover,minute,internal,force,during,coordinated,operation,considerable,computing,efficiency,feasibility
AB值：
0.544807
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