| 新型空间绳系机器人逼近动力学建模及控制 |
| |
| 引用本文： | 孟中杰,黄攀峰,闫杰.新型空间绳系机器人逼近动力学建模及控制[J].火力与指挥控制,2012,37(5):128-131. |
| |
| 作者姓名： | 孟中杰 黄攀峰 闫杰 |
| |
| 作者单位： | 西北工业大学航天学院,西安,710072 |
| |
| 基金项目： | 国家自然科学基金，中国博士后基金资助项目 |
| |
| 摘 要： | 为弥补传统空间机器人操作范围小,风险高的缺点,介绍了一种新型空间绳系机器人系统。建立其任务核心的逼近动力学模型,基于反馈线性化技术和神经网络控制技术设计智能逼近控制系统,仿真结果验证了控制系统的有效性,为新型近距离空间操作技术的发展奠定基础。
|
| 关 键 词： | 空间绳系机器人 建模 逼近动力学 智能控制 |
Approaching Dynamics Modeling and Control for the New Tethered Space Robot |
| |
| MENG Zhong-jie
,
HUANG Pan-feng
,
YAN Jie.Approaching Dynamics Modeling and Control for the New Tethered Space Robot[J].Fire Control & Command Control,2012,37(5):128-131. |
| |
| Authors: | MENG Zhong-jie HUANG Pan-feng YAN Jie |
| |
| Institution: | (School of Astronautics,Northwestern Polytechnical University,Xi’an 710072,China) |
| |
| Abstract: | The traditional space robot has the disadvantage of small range and high risk.To remedy this defect,a new type of tethered space robot system is introduced.Approaching dynamic model is established and the control system is designed based on feedback linearization and neural network control technology.Simulation validates the effectiveness of the control system,which lays a foundation for new short distance spatial operation. |
| |
| Keywords: | tethered space robot modeling approaching dynamic intelligent control |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
