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
N1 - Publisher Copyright:
© 2010, CISM, Udine.
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.
UR - https://www.scopus.com/pages/publications/84865687508
U2 - 10.1007/978-3-7091-0277-0_22
DO - 10.1007/978-3-7091-0277-0_22
M3 - Chapter
AN - SCOPUS:84865687508
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 191
EP - 198
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing
ER -