TY - GEN
T1 - Joint torque optimization method for space manipulator
AU - Yang, Yang
AU - Shang, Xiaoyu
AU - Li, Hui
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/21
Y1 - 2014/10/21
N2 - Space manipulator is an integral part of space station in its life stages including construction, operation and development, during which there are tasks for the manipulator as manipulating light camera and also assembling cabins of weight. Workload range is so wide that optimization is necessary to be considered to improve execution performance on all load conditions. Firstly, this paper details least maximum strategy to optimize each joint's torque, and in reverse can effectively improve the whole manipulator's carrying capability. Further, with the problem of relative poor performance under heavy load to trace the established trajectory, feedforward compensation structure is employed at the level of centralized control to help. Finally experiment as process simulation of space docking is conducted to verify such methods, with 'Matlab & ADAMS' platform. The experiment results indicate that the optimization method can effectively improve the load capacity.
AB - Space manipulator is an integral part of space station in its life stages including construction, operation and development, during which there are tasks for the manipulator as manipulating light camera and also assembling cabins of weight. Workload range is so wide that optimization is necessary to be considered to improve execution performance on all load conditions. Firstly, this paper details least maximum strategy to optimize each joint's torque, and in reverse can effectively improve the whole manipulator's carrying capability. Further, with the problem of relative poor performance under heavy load to trace the established trajectory, feedforward compensation structure is employed at the level of centralized control to help. Finally experiment as process simulation of space docking is conducted to verify such methods, with 'Matlab & ADAMS' platform. The experiment results indicate that the optimization method can effectively improve the load capacity.
KW - Space Manipulator
KW - dynamic compensation
KW - least maximum strategy
KW - redundant DOF
KW - space docking simulation
UR - http://www.scopus.com/inward/record.url?scp=84914167740&partnerID=8YFLogxK
U2 - 10.1109/ICInfA.2014.6932837
DO - 10.1109/ICInfA.2014.6932837
M3 - Conference contribution
AN - SCOPUS:84914167740
T3 - 2014 IEEE International Conference on Information and Automation, ICIA 2014
SP - 1233
EP - 1238
BT - 2014 IEEE International Conference on Information and Automation, ICIA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Information and Automation, ICIA 2014
Y2 - 28 July 2014 through 30 July 2014
ER -
