Name
Abstract | ||
|---|---|---|
A technique for optimal trajectory planning of a space robot for base disturbance minimization is presented in this article. The base disturbance is measured by the coupling force and torque between a base and a mounted manipulator. The influence of force and torque location is analyzed in this paper. An objective function composed of the coupling force and torque related optimization task is minimized. Furthermore, a linear quadratic based optimal control law is presented to achieve the base disturbance minimization control of a space robot. The corresponding illustrative examples are made to verify that Linear Quadratic based optimal control law to achieve base disturbance minimization is feasible. |
Year | Venue | Field |
|---|---|---|
2017 | 2017 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (RCAR) | Torque,Optimal control,Coupling,Control theory,Computer science,Manipulator,Linear quadratic,Minification,Optimal trajectory planning,Robot |
DocType | Citations | PageRank |
Conference | 0 | 0.34 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Minghe Jin | 1 | 1 | 1.70 |
| Ziqi Liu | 2 | 90 | 16.12 |
| Cheng Zhou | 3 | 5 | 1.50 |
| Zhiqi Li | 4 | 1 | 2.72 |
| Hong Liu | 5 | 213 | 48.37 |