Title :
On Orbit Servicing Flexible Space Robots Dynamics and Control During Capturing Target
Author :
Yu Zhifu ; Yu Yongbo ; Shang Deyong ; Yu Fangna
Author_Institution :
Dept. Mech. & Electr. Eng., Hebei Univ. of Eng., Handan, China
Abstract :
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.
Keywords :
aerospace robotics; mobile robots; robot dynamics; stability; Lagrangian formulation; orbit servicing flexible space robots control; orbit servicing flexible space robots dynamics; simulation tests; target capturing; Control systems; Extraterrestrial measurements; Lagrangian functions; Orbital robotics; Robot control; Robot kinematics; Robotics and automation; Satellites; Space missions; Space technology;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on
Conference_Location :
Changsha City
Print_ISBN :
978-1-4244-5001-5
Electronic_ISBN :
978-1-4244-5739-7
DOI :
10.1109/ICMTMA.2010.198
