Back to Search
Start Over
Dynamics and smooth trajectory planning of free floating space robot with zero-disturbance spacecraft attitude
- Source :
- 2008 27th Chinese Control Conference.
- Publication Year :
- 2008
- Publisher :
- IEEE, 2008.
-
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.
Details
- Database :
- OpenAIRE
- Journal :
- 2008 27th Chinese Control Conference
- Accession number :
- edsair.doi...........cf3be2d8a9ebbf818c6e9ba51cb350c1