空间机器人协调控制全物理仿真设计与验证

Abstract

Abstract: Crosscouplings between the satellitebase and the manipulator occur when the manipulator move around. The cooperative control method is used to decrease the effect of disturbance torque on satellite attitude. The experimental simulation system is designed based on the airbearing table. The manipulator beard by gas is installed on the airbearing platform for simulating the crosscoupling motions in the microgravity condition. The cooperative control method is verified via the experimental equipment, control unit and software on board.

Key words: space robot, cooperative control, ground experiment system

WANG Ying, Han-Dong, Liu-Tao. The Design and Verification of Experiment System for Cooperative Control of Space Robot[J]., 2015, 41(2): 30-35.

References

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The Design and Verification of Experiment System for Cooperative Control of Space Robot

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