Design for a dual-arm space robot

Hui Li; Qiang Huang; Que Dong; Chen Li; Yu He; Zhihong Jiang; Yue Li; Peng Lv; Lin Xie; Xiaopeng Chen; Kejie Li

doi:10.1007/978-3-7091-0277-0_22

Design for a dual-arm space robot

Hui Li, Qiang Huang, Que Dong, Chen Li, Yu He, Zhihong Jiang^*, Yue Li, Peng Lv, Lin Xie, Xiaopeng Chen, Kejie Li

^*此作品的通讯作者

机电学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 章节 › 同行评审

3 引用（Scopus）

摘要

With the development of space technology, plenty of work for space assembly and maintenance should be carried out. However, these tasks are dangerous and high cost for astronauts. It is necessary to develop a space robot to complete these dangerous space operations. In this paper, we present a method of the design of dual-arm space robot, including the mechanism, integrative joint, vision system and vision-based climbing trajectory plan. Finally, the joint control performance experiment is provided.

源语言	英语
主期刊名	CISM International Centre for Mechanical Sciences, Courses and Lectures
出版商	Springer International Publishing
页	191-198
页数	8
DOI	https://doi.org/10.1007/978-3-7091-0277-0_22
出版状态	已出版 - 2010

出版系列

姓名	CISM International Centre for Mechanical Sciences, Courses and Lectures
卷	524
ISSN（印刷版）	0254-1971
ISSN（电子版）	2309-3706

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10.1007/978-3-7091-0277-0_22

其它文件与链接

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引用此

Li, H., Huang, Q., Dong, Q., Li, C., He, Y., Jiang, Z., Li, Y., Lv, P., Xie, L., Chen, X., & Li, K. (2010). Design for a dual-arm space robot. 在 CISM International Centre for Mechanical Sciences, Courses and Lectures (页码 191-198). (CISM International Centre for Mechanical Sciences, Courses and Lectures; 卷 524). Springer International Publishing. https://doi.org/10.1007/978-3-7091-0277-0_22

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abstract = "With the development of space technology, plenty of work for space assembly and maintenance should be carried out. However, these tasks are dangerous and high cost for astronauts. It is necessary to develop a space robot to complete these dangerous space operations. In this paper, we present a method of the design of dual-arm space robot, including the mechanism, integrative joint, vision system and vision-based climbing trajectory plan. Finally, the joint control performance experiment is provided.",

author = "Hui Li and Qiang Huang and Que Dong and Chen Li and Yu He and Zhihong Jiang and Yue Li and Peng Lv and Lin Xie and Xiaopeng Chen and Kejie Li",

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doi = "10.1007/978-3-7091-0277-0_22",

language = "English",

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Li, H, Huang, Q, Dong, Q, Li, C, He, Y, Jiang, Z, Li, Y, Lv, P, Xie, L, Chen, X & Li, K 2010, Design for a dual-arm space robot. 在 CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, 卷 524, Springer International Publishing, 页码 191-198. https://doi.org/10.1007/978-3-7091-0277-0_22

TY - CHAP

T1 - Design for a dual-arm space robot

AU - Li, Hui

AU - Huang, Qiang

AU - Dong, Que

AU - Li, Chen

AU - He, Yu

AU - Jiang, Zhihong

AU - Li, Yue

AU - Lv, Peng

AU - Xie, Lin

AU - Chen, Xiaopeng

AU - Li, Kejie

PY - 2010

Y1 - 2010

N2 - With the development of space technology, plenty of work for space assembly and maintenance should be carried out. However, these tasks are dangerous and high cost for astronauts. It is necessary to develop a space robot to complete these dangerous space operations. In this paper, we present a method of the design of dual-arm space robot, including the mechanism, integrative joint, vision system and vision-based climbing trajectory plan. Finally, the joint control performance experiment is provided.

AB - With the development of space technology, plenty of work for space assembly and maintenance should be carried out. However, these tasks are dangerous and high cost for astronauts. It is necessary to develop a space robot to complete these dangerous space operations. In this paper, we present a method of the design of dual-arm space robot, including the mechanism, integrative joint, vision system and vision-based climbing trajectory plan. Finally, the joint control performance experiment is provided.

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U2 - 10.1007/978-3-7091-0277-0_22

DO - 10.1007/978-3-7091-0277-0_22

M3 - Chapter

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T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures

SP - 191

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BT - CISM International Centre for Mechanical Sciences, Courses and Lectures

PB - Springer International Publishing

ER -

Design for a dual-arm space robot

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