1. Trajectory Tracking Control of a Reactionless Space Robot.
- Author
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ZHAO Nan, JIA Yinghong, and XU Shijie
- Abstract
A new reactionless space robot design concept was put forward to overcome the shortcomings of the current drive types. Control moment gyros (CMGs) were mounted on each part mechanical arm and system platform as movement actuators. Mechanical arms were connected with spherical hinges. Platform attitude and angular displacement were measured by the Rodrigues parameters (RPs). Based on system dynamics model built with Kane method, a gradually stable trajectory tracking control law was designed to track the platform attitude and mechanical arm angular displacement, and a CMGs steering law was designed to output exact expected control torque. Moreover, the designed control laws can be further extended to track and control the workspace trajectory by studying the trajectory planning algorithms between the mechanical arms workspace and joints space. The simulation results from the three joints systems have verified the feasibility of design and effectiveness of the proposed trajectory algorithms. [ABSTRACT FROM AUTHOR]
- Published
- 2014
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