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《Journal of Beijing University of Aeronautics and Astronautics》 2002-06
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Kinematics Analysis and Simulation of Free-Floating Space Robot

REN Jing yi (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation) SUN Han xu (Beijing University of Posts and Telecommunications, School of Automation)  
The movement of the end effector of free floating space robot is related to not only the movement of each joint, but also the trajectory and the mass distribution of each link. This is the most distinct difference between free floating space robot and terrestrial robot. Thus, the kinematics of free floating space robot is closely connected with its dynamics. Screw theory and linear and angular momentum conservation were used to analyze free floating space robot system. A general jacobian was derived, which includes the system's mass. On the above basis, a movement simulation of free floating space robot was given.
【CateGory Index】: TP242
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【References】
Chinese Journal Full-text Database 2 Hits
1 ZHANG Yanhong;Sliding-mode Control for Coordinated Motion of Free-floating Space Robot Based on Filtering Techniques[J];Modern Machinery;2009-06
2 SHUI HAI-tao,PENG SHENG-jun,MA HONG-xu(College of Electromechanical Engineering & Automation,National University of Defense Technology,Changsha 410073 China);A Review on Motion Planning for Free-Floating Space Robots[J];Techniques of Automation and Applications;2009-11
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 REN Jing yi (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation) SUN Han xu (Beijing University of Posts and Telecommunications, Dept. of Mechanical and Electronics Engineering);Analysis of Kinematics of Three-Branch Space Robot[J];Journal of Beijing University of Aeronautics and Astronautics;2001-05
2 WANG Haining,ZHANG Xiaojiang (School of Electrical Engineering and Automation,Hefei University of Technology,Hefei 230009,China);Sliding Mode Control for Robot Based on Filter[J];Electronic Engineer;2008-04
3 TANG Xiao-teng , CHEN Li (College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China);OPTIMAL NONHOLONOMIC MOTION PLANNING OF SPACE ROBOT SYSTEM WITH DUAL-ARMS USING ADAPTIVE GENETIC ALGORITHM[J];Engineering Mechanics;2008-02
4 Zhao Xiaodong, Wang Shuguo, Yan Yanjun, Cai Hegao (Robot Research Institute, Harbin Institute of Technology, Harbin 150001) (Department of Control Engineering, Harbin Institute of Technology, Harbin 150001);Path Planning Method and Simulation of Free-floating Space Robots under Obstacle Environments[J];High Technology Letters;2003-06
5 Zhao Xiaodong, Wang Shuguo, Yan Yanjun, Cai Hegao (Robot Research Institute, Harbin Institute of Technology, Harbin 150001) (Department of Control Engineering, Harbin Institute of Technology, Harbin 150001);Path Planning Algorithm of a Free-floating Space Manipulator Based on Adjustment of the Base Attitude[J];High Technology Letters;2003-03
6 DING Xi lun, ZHAN Qiang, XIE Yu wen (Robotics Research Institute, Beijing University of Aeronautics and Astronautics, Beijing\ 100083, China);DYNAMIC SINGULARITY ANALYSIS AND MOTION PLANNING OF FREE-FLOATING SPACE ROBOT SYSTEMS[J];Acta Aeronautica Et Astronautica Sinica;2001-05
7 CHEN Li 1 LIU Yan zhu 2 (1. Department of Mechanical Engineering, Fuzhou, University, Fuzhou 350002; 2.Department of Engineering,Shanghai Jiaotong University, Shanghai 200030);THE ADAPTIVE CONTROL SCHEMES OF RESOLVED MOTION FOR SPACE BASED MANIPULATOR TO TRACK THE DESIRED TRAJECTORY OF WORKSPACE[J];ROBOT;1999-06
8 LIU Chang-'an 1 LI Guo-dong 1 WU Ke-he 1 HONG Bing-rong 2 (1.Department of Computer Science and Technology, North China Electric Power University Beijing 102206;2.Department of Computer Science and Engineering, Harbin Institute of Technology Harbi;RESEARCH SUMMARIZING OF FREE FLYING SPACE ROBOT[J];Robot;2002-04
9 XU Wen-fu~1,ZHAN Wen-fa~2,LIANG Bin~3,LI Cheng~3,QIANG Wen-yi~1(1.Department of Control Science and Engineering,Harbin Institute of Technology,Harbin150001,China;2.Educational Technology Department,Anqing Teachers College,Anqing246011,China;3.Shenzhen Space Technology Center,HIT Research Institute in Shenzhen,Shenzhen518057,China);Path Planning for Base Attitude Adjustment of a Free-floating Space Robot System[J];Robot;2006-03
10 JIN Fei-hu,HONG Bing-rong,LIU Chang-an,GAO Qing-ji (College of Computer Science,Harbin Institute of Technology,Harbin Helongjiang 150001,China);Network System of Ground Test System for Dual-arm Free Flying Space Robot[J];Application Research of Computers;2002-08
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