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

^*此作品的通讯作者

Harbin Institute of Technology
German Aerospace Center

科研成果: 期刊稿件 › 文章 › 同行评审

13 引用（Scopus）

摘要

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.

源语言	英语
页（从-至）	242-247+253
期刊	Jiqiren/Robot
卷	31
期	3
出版状态	已出版 - 5月 2009
已对外发布	是

其它文件与链接

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引用此

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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",

year = "2009",

month = may,

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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

UR - https://www.scopus.com/pages/publications/66349085423

M3 - Article

AN - SCOPUS:66349085423

SN - 1002-0446

VL - 31

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

摘要

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