共查询到17条相似文献,搜索用时 140 毫秒
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双臂自由飞行空间机器人自主控制系统仿真 总被引:4,自引:0,他引:4
该文重点介绍了所开发的双臂自由飞行空间机器人自主规划运动控制仿真系统的构成、各模块的功能以及自主规划算法。为研制和开发自由飞行空间机器人及其地面实验平台提供了理论依据。 相似文献
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本文简要阐述了空间机器人在航天技术发展中的重要意义与广阔的应用前景,分析了空间机器人地面实验系统的发展状况和优缺点,论述了我国开展舱外自由移动机器人系统研究的目的与意义,并详细阐述了舱外自由移动机器人的功能结构和组成。最后,展示了舱外自由移动机器人系统的地面演示实验结果。 相似文献
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首先介绍了VC++6.0,OpenGL和MATLAB 6.0三种软件各自特点;其次在各自特点的基础上,建立了基于三者相结合的自由飞行空间机器人仿真试验平台;最后以建立自由飞行空间机器人的运动仿真系统为例,说明了该试验平台的优越性和有效性。 相似文献
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作为空间操控的重要手段, 空间遥操作将趋向于更精细和更灵活. 然而传统的空间遥操作控制方法难以兼
顾操作的精细性和灵活性. 针对这一问题, 本文阐述了一种面向自由飞行空间机器人的遥操作分数阶PID控制方法.
首先根据自由飞行空间机器人的动力学模型, 设计了空间遥操作分数阶PID控制系统. 其次, 针对空间遥操作时滞
系统和系统的鲁棒性和抗干扰性要求, 基于系统的参数稳定域, 对分数阶PID控制器的参数进行整定. 最后, 数值仿
真和地面遥操作实验验证了分数阶PID控制器的跟踪性能、抗干扰性、鲁棒性和抗时延抖动性能. 因此, 本文设计的
分数阶PID控制器不仅适合于空间遥操作复杂时滞系统, 而且可以满足未来空间遥操作任务的发展需求. 相似文献
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本文首先对机器人运动规划算法中的栅格扩展策略及次序规划法进行了探讨,并提
出了相应的改进方法,在此基础上提出了一种新的机器人运动规划策略——基于位姿空间栅
格扩展及变维空间搜索算法,该算法可有效地在复杂环境中找出无碰撞路径. 相似文献
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《Advanced Robotics》2013,27(6):625-651
The paper tries to outline the state of the art in space robotics. It discusses the technologies used in ROTEX, the first remotely controlled space robot which flew with the shuttle Columbia in April 1993, but it also gives a review of the major space robot projects envisioned by different nations for the next decade. The mechatronics and dynamics aspects of space robots including free-flying systems are briefly discussed. Broader attention is given to the telerobotic and teleoperational control loop structures, including predictive delay-compensating graphics simulation. The paper finally tries to emphasize that by task-level programming (involving 'learning by showing' on a high level) future space robots will be powerful tools for scientists and ground operators which are not robot specialists. The tele-sensor programming concept of ROTEX was a first step in this direction. We plead for flying a variety of space robot systems in the near future in order to enhance experience with and confidence in these technologies as quickly as possible. 相似文献
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In this paper, both the dynamics and noncollocated model‐free position control (NMPC) for a space robot with multi‐link flexible manipulators are developed. Using assumed modes approach to describe the flexible deformation, the dynamic model of the flexible space robotic system is derived with Lagrangian method to represent the system dynamic behaviors. Based on Lyapunov's direct method, the robust model‐free position control with noncollocated feedback is designed for position regulation of the space robot and vibration suppression of the flexible manipulators. The closed‐loop stability of the space robotic system can be guaranteed and the guideline of choosing noncollocated feedback is analyzed. The proposed control is easily implementable for flexible space robot with both uncertain complicated dynamic model and unknown system parameters, and all the control signals can be measured by sensors directly or obtained by a backward difference algorithm. Numerical simulations on a two‐link flexible space robot are provided to demonstrate the effectiveness of the proposed control. 相似文献
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A. Frank Van Der Stappen 《Journal of Intelligent and Robotic Systems》1994,11(1-2):21-44
The complexity of motion planning algorithms highly depends on the complexity of the robot's free space, i.e., the set of all collision-free placements of the robot. Theoretically, the complexity of the free space can be very high, resulting in bad worst-case time bounds for motion planning algorithms. In practice, the complexity of the free space tends to be much smaller than the worst-case complexity. Motion planning algorithms with a running time that is determined by the complexity of the free space therefore become feasible in practical situations. We show that, under some realistic assumptions, the complexity of the free space of a robot with any fixed number of degrees of freedom moving around in ad-dimensional Euclidean workspace with fat obstacles is linear in the number of obstacles. The complexity results lead to highly efficient algorithms for motion planning amidst fat obstacles.Research is supported by the Dutch Organization for Scientific Research (NWO) and partially supported by the ESPRIT III BRA Project 6546 (PROMotion). 相似文献
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针对存在不确定性以及干扰的自由漂浮空间机器人关节空间轨迹跟踪问题,提出了一种基于鲁棒控制思想的神经网络鲁棒控制方法.对于控制器中由系统惯性参数不确定性引起的非线性不确定项,利用径向基函数(RBF)神经网络进行逼近,并且利用鲁棒控制器使系统镇定并保证从干扰到跟踪误差的增益小于或等于给定的指标.最后,对本文提出的控制方案进... 相似文献