NDLI: Dynamics and smooth trajectory planning of free floating space robot with zero-disturbance spacecraft attitude

Content Provider	IEEE Xplore Digital Library
Author	Fu Yili Zhang Fuhai Wang Shuguo
Copyright Year	2008
Description	Author affiliation: Harbin Inst. of Technol., Harbin (Fu Yili; Zhang Fuhai; Wang Shuguo)
Abstract	The stability of the spacecraft attitude is very important to the normal work of solar cells and the communication between the system and earth. Therefore a work mode of free floating space robot (FFSR) with zero-disturbance spacecraft attitude is presented; the dynamic equation of FFSR with zero-disturbance spacecraft attitude is derived based on Lagrange method; the smooth and consecutive joint trajectories are designed by adopting a planning method of trigonometric function according to the boundary conditions; the time distribution method of smooth segments to aim at the optimization of joint torques is investigated. The simulation results validate the method proposed, and the outcome sets a good foundation for the motion planning and control of FFSR with zero-disturbance spacecraft attitude.
Starting Page	490
Ending Page	494
File Size	397071
Page Count	5
File Format	PDF
ISBN	9787900719706
DOI	10.1109/CHICC.2008.4605824
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute Of Intelligence M&C Technical Of KMUST
Subject Keyword	Space vehicles Free Floating Space Robot Conferences Dynamics Trajectory Planning Zero-disturbance Spacecraft Attitude Aerospace electronics Manipulators Planning Robots Manipulator dynamics
Content Type	Text
Resource Type	Article

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