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| Content Provider | Springer Nature Link |
|---|---|
| Author | Zhou, Cheng Jin, Ming He Liu, Ye Chao Zhang, Ze Liu, Yu Liu, Hong |
| Copyright Year | 2017 |
| Abstract | This paper presents a singularity robust path planning for space manipulator to achieve base (satellite) attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority reaction null-space control method is applied to achieve the primary task of adjusting attitude and secondary task of accomplishing end-effector task. Furthermore, the algorithm singularity is eliminated in the proposed algorithm compared with conventional reaction null-space algorithm. And the singular value filtering decomposition is introduced to dispose the dynamic singularity, the unit quaternion is also introduced to overcome representation singularity. Hence, a singularity robust path planning algorithm of space robot for base attitude adjustment is derived. A real time simulation system of the space robot under Linux/RTAI (realtime application interface) is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online base attitude adjustment of space robot by the proposed algorithm. |
| Starting Page | 169 |
| Ending Page | 178 |
| Page Count | 10 |
| File Format | |
| ISSN | 14768186 |
| Journal | International Journal of Automation and Computing |
| Volume Number | 14 |
| Issue Number | 2 |
| e-ISSN | 17518520 |
| Language | English |
| Publisher | Institute of Automation, Chinese Academy of Sciences |
| Publisher Date | 2017-01-18 |
| Publisher Place | Beijing |
| Access Restriction | Subscribed |
| Subject Keyword | Space robot path planning base attitude adjustment task priority reaction null-space Control, Robotics, Mechatronics Computer Applications Computer-Aided Engineering (CAD, CAE) and Design |
| Content Type | Text |
| Resource Type | Article |
| Subject | Applied Mathematics Control and Systems Engineering Modeling and Simulation Computer Science Applications |
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