کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
493479 721876 2008 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A scheme for robust trajectory control of space robots
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر علوم کامپیوتر (عمومی)
پیش نمایش صفحه اول مقاله
A scheme for robust trajectory control of space robots
چکیده انگلیسی

This paper presents a scheme for robust trajectory control of free-floating space robots. The idea is based on the overwhelming robust trajectory control of a ground robot on a flexible foundation and robust foundation disturbance compensation presented elsewhere. No external jets/thrusters are required or used in the scheme. An example of a three-link robot mounted on a free-floating space platform is considered for demonstrating the efficacy of the control scheme. Bond graph technique has been used for the purpose of modeling and simulation. Robustness of the control scheme is guaranteed since the controller does not require the knowledge of the manipulator parameters.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Simulation Modelling Practice and Theory - Volume 16, Issue 9, October 2008, Pages 1337–1349
نویسندگان
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