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Control of free-flying underactuated space manipulators to equilibrium manifolds

机译:自由飞行欠驱动空间操纵器到平衡歧管的控制

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Underactuated mechanisms will provide low-cost automation, easily overcome actuator failures, and be particularly useful for space applications because of their reduced mass and lower power consumption. In space underactuation can be effectively introduced in robot manipulators. Such mechanisms will however be difficult to control because of the fewer number of actuators in the system. It is shown that when the actuated joints do not have brakes, it is possible to bring the system to a complete rest and converge the actuated joints to their desired values, provided the system maintains zero momentum and none of the unactuated joints are cyclic coordinates. To converge both the actuated and the unactuated joints to their desired set of values, it is assumed that the number of actuated joints is more than the number of unactuated joints, and the unactuated joints have brakes. It is shown that if there exists sufficient dynamical coupling between the set of actuated and unactuated joints it is possible to converge all the manipulator joints to their desired values.
机译:欠驱动机构将提供低成本的自动化,轻松克服执行器故障,并且由于其重量轻,功耗低而在空间应用中特别有用。在太空中,欠驱动可以有效地引入机器人操纵器中。然而,由于系统中的致动器数量较少,所以这样的机构将难以控制。结果表明,当致动关节没有制动器时,只要系统保持零动量且所有未致动关节都不是循环坐标,就可以使系统完全静止,并使致动关节收敛至所需值。为了将致动关节和未致动关节都收敛到其期望的一组值,假定致动关节的数量大于未致动关节的数量,并且未致动关节具有制动器。已经表明,如果在一组致动和未致动的接头之间存在足够的动力耦合,则可以将所有操纵器接头收敛到它们的期望值。

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