41705

Автор(ы): 

Автор(ов): 

3

Параметры публикации

Тип публикации: 

Статья в журнале/сборнике

Название: 

Some issues of controlling the free-flying manipulative space robot

DOI: 

10.1134/S0005117913110052

Наименование источника: 

  • AUTOMATION AND REMOTE CONTROL

Обозначение и номер тома: 

Т. 74Ю вып.11

Город: 

  • Москва

Издательство: 

  • SP MAIK Nauka/Interperiodica

Год издания: 

2013

Страницы: 

1820-1837
Аннотация
A brief review of the state-of-the-art in the control of free-flying space robots in the modes of manipulative target lockon by planning the gripper trajectory was presented. For the class of feedback systems, an alternative approach to this problem was proposed. Within the framework of this approach, consideration was given to the problems of constructing the working zone of the space manipulative robot and generating an algorithm to control the manipulative positioning of the load at the desired point of the inertial space with the availability of information about the direction to the target and the distance to it which is acquired using a camcorder mounted at the end link of the manipulator. Examples were presented of computer-aided construction of the working zone and modeling the space robot dynamics which corroborate operability of the proposed algorithm.

Библиографическая ссылка: 

Рутковский В.Ю., Суханов В.М., Глумов В.М. Some issues of controlling the free-flying manipulative space robot // AUTOMATION AND REMOTE CONTROL. 2013. Т. 74Ю вып.11. С. 1820-1837.

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