Abstract
There is a strong dynamic coupling between the base of free-floating space robot and the space manipulator. In order to reduce the interference of the movement of the space manipulator on the robot's base, the trajectory of the space manipulator needs to be optimized. In this paper, the joint path of space manipulators is optimized by using the pseudo-spectral method to reduce the impact of the arm movement on the base. For space robots, parameters identification is the premise of trajectory planning. A parameters identification method is proposed, which only needs to measure the base's angular speed. Numerical simulation results verify the validity of the proposed method. The attitude angle of floating base returns to the initial state after maneuvers of space manipulators.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
