Global reaction optimization of space manipulator and its ground test

Shi Cai Shi; Jian Wei Wu; Ping Yuan Cui; Hong Liu

Global reaction optimization of space manipulator and its ground test

Shi Cai Shi^*, Jian Wei Wu, Ping Yuan Cui, Hong Liu

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

12 Citations (Scopus)

Abstract

When space manipulator moves, it will bring force/torque reactions to the spacecraft. This paper analyzes the problem, and proposes a global reaction optimization method of parameterized joint trajectory, which can reduce the force and torque reactions caused by the space manipulator. Based on air bearings, a ground experiment system for optimizing the 3-DOF space manipulator reaction is set up. At last, 3-DOF manipulator is used to verify the validity of the proposed method.

Original language	English
Pages (from-to)	242-247+253
Journal	Jiqiren/Robot
Volume	31
Issue number	3
Publication status	Published - May 2009
Externally published	Yes

Keywords

Air bearing
Reaction optimization
Space manipulator
Spacecraft
Trajectory planning

Cite this

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title = "Global reaction optimization of space manipulator and its ground test",

abstract = "When space manipulator moves, it will bring force/torque reactions to the spacecraft. This paper analyzes the problem, and proposes a global reaction optimization method of parameterized joint trajectory, which can reduce the force and torque reactions caused by the space manipulator. Based on air bearings, a ground experiment system for optimizing the 3-DOF space manipulator reaction is set up. At last, 3-DOF manipulator is used to verify the validity of the proposed method.",

keywords = "Air bearing, Reaction optimization, Space manipulator, Spacecraft, Trajectory planning",

author = "Shi, {Shi Cai} and Wu, {Jian Wei} and Cui, {Ping Yuan} and Hong Liu",

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AU - Shi, Shi Cai

AU - Wu, Jian Wei

AU - Cui, Ping Yuan

AU - Liu, Hong

PY - 2009/5

Y1 - 2009/5

N2 - When space manipulator moves, it will bring force/torque reactions to the spacecraft. This paper analyzes the problem, and proposes a global reaction optimization method of parameterized joint trajectory, which can reduce the force and torque reactions caused by the space manipulator. Based on air bearings, a ground experiment system for optimizing the 3-DOF space manipulator reaction is set up. At last, 3-DOF manipulator is used to verify the validity of the proposed method.

AB - When space manipulator moves, it will bring force/torque reactions to the spacecraft. This paper analyzes the problem, and proposes a global reaction optimization method of parameterized joint trajectory, which can reduce the force and torque reactions caused by the space manipulator. Based on air bearings, a ground experiment system for optimizing the 3-DOF space manipulator reaction is set up. At last, 3-DOF manipulator is used to verify the validity of the proposed method.

KW - Air bearing

KW - Reaction optimization

KW - Space manipulator

KW - Spacecraft

KW - Trajectory planning

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M3 - Article

AN - SCOPUS:66349085423

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SP - 242-247+253

JO - Jiqiren/Robot

JF - Jiqiren/Robot

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ER -

Global reaction optimization of space manipulator and its ground test

Abstract

Keywords

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