Title :
Dynamic modeling, control and simulation of flexible dual-arm space robot
Author :
Licheng, Wu ; Fuchun, Sun ; Zengqi, Sun ; Wenjing, Su
Author_Institution :
Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China
Abstract :
Flexible Multi-Arm Space Robot is a highly nonlinear and coupled dynamic system. Using the assumed mode method to describe the elastic deformation, the dynamic model of flexible dual-arm space robot is build by the Lagrange approach. The inversion dynamic control method is performed to solve the tracking problem. Then a serial of simulations of tracking control of two kinds of typical trajectory have done. Good tracking control results obtained at the simulations of the flexible dual-arm space robot.
Keywords :
aerospace robotics; flexible manipulators; tracking; coupled dynamic system; dual-arm space robot; inversion dynamic control; nonlinear dynamic system; space robot; tracking control; trajectory; Equations; Intelligent robots; Lagrangian functions; Manipulator dynamics; Nonlinear dynamical systems; Orbital robotics; Robot kinematics; Space technology; Sun; Trajectory;
Conference_Titel :
TENCON '02. Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering
Print_ISBN :
0-7803-7490-8
DOI :
10.1109/TENCON.2002.1182560
