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Trajectory control of a dual-arm planar space robot with little attitude disturbance

机译:姿态干扰小的双臂平面空间机器人的轨迹控制

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摘要

This work presents a trajectory planning strategy for a dual-arm planar space robot in workspace that is intended to minimize vehicle attitude disturbance that may occur due to dynamic coupling between the arms and the vehicle of the space robot. The strategy is based on the principle of dynamic coupling between the tip motion and the vehicle motion of the space robot. The strategy uses the two arms of manipulator. One arm, called the mission arm, achieves the trajectory control task while the other arm, called the balance arm, moves in such a way as to reduce the attitude of the vehicle. A robust overwhelming controller is used for trajectory control of the tip of the mission arm. The balance arm first-joint rotation is based on the mission arm first-joint rotation, whereas the balance arm second-joint rotation is carried out such that a small attitude disturbance of the vehicle takes place. An example of the two degrees of freedom planar space robot is considered to illustrate the methodology. A bond graph has been adopted as the modeling tool, as it facilitates the system modeling from the physical paradigm itself and it is easy to develop various control strategies by modifying the physical paradigm.
机译:这项工作提出了一种用于工作空间中的双臂平面空间机器人的轨迹规划策略,旨在最小化由于空间机器人的手臂与车辆之间的动态耦合而可能发生的车辆姿态干扰。该策略基于太空机器人的尖端运动与车辆运动之间的动态耦合原理。该策略使用操纵器的两臂。一个被称为任务臂的手臂完成了轨迹控制任务,而另一个被称为平衡臂的手臂则以降低车辆姿态的方式运动。强大的压倒性控制器用于任务臂末端的轨迹控制。平衡臂第一关节旋转是基于任务臂第一关节旋转,而平衡臂第二关节旋转被执行为使得车辆的姿态干扰较小。考虑使用两个自由度平面空间机器人的示例来说明该方法。键合图已被用作建模工具,因为它有助于从物理范式本身进行系统建模,并且很容易通过修改物理范式来开发各种控制策略。

著录项

  • 来源
    《Simulation》 |2011年第3期|p.188-204|共17页
  • 作者单位

    Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee 247667, India;

    Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee 247667, India;

    Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee 247667, India;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    attitude control; bond graph modeling; dual-arm space robot; overwhelming control;

    机译:态度控制键合图建模;双臂空间机器人;压倒性的控制;
  • 入库时间 2022-08-18 02:50:36

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